Robust nonlinear control of aerial manipulators

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dc.creatorJúnio E. de Morais
dc.creatorDaniel N. Cardoso
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-05-29T13:32:06Z
dc.date.accessioned2025-09-08T22:50:56Z
dc.date.available2025-05-29T13:32:06Z
dc.date.issued2023
dc.identifier.doi10.1007/s40313-022-00944-9
dc.identifier.issn21953880
dc.identifier.urihttps://hdl.handle.net/1843/82608
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofJournal of Control, Automation and Electrical Systems
dc.rightsAcesso Restrito
dc.subjectTeoria do controle
dc.subject.otherControl and Systems Theory, Control, Robotics, Automation, Robotic Engineering, Stochastic Systems and Control, Systems Theory, Control, System Robustness
dc.titleRobust nonlinear control of aerial manipulators
dc.typeArtigo de periódico
local.citation.epage17
local.citation.issue1
local.citation.spage1
local.citation.volume34
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://link.springer.com/article/10.1007/s40313-022-00944-9

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