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Kim, MinJun and Kondak, Konstantin and Ott, Christian (2018) A stabilizing controller for regulation of uav with manipulator. IEEE Robotics and Automation Letters, 3 (3), pp. 1719-1726. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2803205. ISSN 2377-3766.
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Official URL: https://ieeexplore.ieee.org/abstract/document/8283724
Abstract
Stability is not trivial in aerial manipulation tasks because of the dynamical coupling between the aerial vehicle and the manipulator. This is especially true when the manipulator becomes heavy, so that its dynamics can be significant. In this letter, a stabilizing controller for the regulation of overall system will be designed without using any assumptions on the dynamic model. In addition, thorough discussion with simulation validation is presented.
| Item URL in elib: | https://elib.dlr.de/124914/ | ||||||||||||||||
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| Document Type: | Article | ||||||||||||||||
| Title: | A stabilizing controller for regulation of uav with manipulator | ||||||||||||||||
| Authors: |
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| Date: | 7 February 2018 | ||||||||||||||||
| Journal or Publication Title: | IEEE Robotics and Automation Letters | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||
| Volume: | 3 | ||||||||||||||||
| DOI: | 10.1109/LRA.2018.2803205 | ||||||||||||||||
| Page Range: | pp. 1719-1726 | ||||||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
| ISSN: | 2377-3766 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | Aerial manipulation, unmanned aerial vehicle | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||
| DLR - Research theme (Project): | Vorhaben Intelligente Mobilität (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||
| Deposited By: | Kim, MinJun | ||||||||||||||||
| Deposited On: | 12 Dec 2018 10:30 | ||||||||||||||||
| Last Modified: | 20 Jun 2021 15:52 |
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