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A stabilizing controller for regulation of uav with manipulator

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/
Document Type:Article
Title:A stabilizing controller for regulation of uav with manipulator
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kim, MinJunMinJun.Kim (at) dlr.dehttps://orcid.org/0000-0003-0605-4512
Kondak, KonstantinKonstantin.Kondak (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
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:No
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):Vorhaben Intelligente Mobilität
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:31 Jul 2019 20:22

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