Robust nonlinear control of aerial manipulators
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Universidade Federal de Minas Gerais
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This paper presents single-layer robust nonlinear controllers for the unmanned aerial manipulator (UAM) trajectory tracking problem. The multi-body dynamical modeling of an underactuated UAM is conducted from the perspective of its end-effector using the Euler–Lagrange formalism. Accordingly, two single-layer nonlinear controllers are designed based on the classic H-infinity and the novel W-infinity control approaches for robust trajectory tracking of the UAM end-effector. The nonlinear H-infinity and W-infinity controllers are implemented in a hardware-in-the-loop framework using a simulator developed on Gazebo and ROS platforms, based on the computer-aided design model of the UAM. The performance of the controllers is evaluated when executing tasks such as object grasping, extension and retraction of the manipulator arm, hovering, and tracking a time-varying trajectory, while the UAM is affected by disturbances as ground effect, environment wind, and parametric and structural uncertainties.
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Control and Systems Theory, Control, Robotics, Automation, Robotic Engineering, Stochastic Systems and Control, Systems Theory, Control, System Robustness
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https://link.springer.com/article/10.1007/s40313-022-00944-9