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Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches

Maier, Moritz and Oeschger, André and Kondak, Konstantin (2016) Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches. In: IEEE International Conference on Robotics and Automation ICRA. IEEE Robotics and Automation Society. International Conference on Robotics and Automation (ICRA), 16-21 May 2016, Stockholm, Sweden.

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Abstract

This paper addresses the problem of landing a VTOL UAV using a serial robotic manipulator fixed to the landing surface, which assists the UAV during the last, most challenging, landing phase. In this phase, UAV and manipulator are connected via a universal hinge, which decouples the flying vehicle’s and the robot’s end-effector orientation. The main contribution of the paper is the design of a linear state-space controller for position and orientation of the UAV while it is fixed to the manipulator. Furthermore, we compare a coupled and a decoupling realization of the model-based controller with a model-free controller. Both model-based controllers consider the dynamics of an attitude-controlled aerial vehicle and use the acceleration of the robot’s end-effector as control input. All three controllers are validated and compared in experiments using a KUKA/DLR light-weight robot on a nonmoving base and an AR.Drone 2.0 quadrotor. The experimental results show that decoupling is superior to the coupled and the model-free approach, since the orientation of the UAV rotorcraft is controlled more precisely.

Item URL in elib:https://elib.dlr.de/105302/
Document Type:Conference or Workshop Item (Speech)
Title:Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Maier, MoritzMoritz.Maier (at) dlr.deUNSPECIFIED
Oeschger, Andréandre.oeschger (at) googlemail.comUNSPECIFIED
Kondak, KonstantinKonstantin.Kondak (at) dlr.deUNSPECIFIED
Date:16 May 2016
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Editors:
EditorsEmail
Okamura, Allisonaokamura@stanford.edu
Hutchinson, Sethseth@illinois.edu
Publisher:IEEE Robotics and Automation Society
Status:Published
Keywords:VTOL UAVs, quadrotors, robot manipulators, linear control
Event Title:International Conference on Robotics and Automation (ICRA)
Event Location:Stockholm, Sweden
Event Type:international Conference
Event Dates:16-21 May 2016
Organizer:IEEE Robotics and Automation Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Maier, Moritz
Deposited On:19 Jul 2016 09:22
Last Modified:09 Feb 2017 19:22

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