Adaptive Control Approaches for an Unmanned Aerial Manipulation System

Dimitris Chaikalis, Farshad Khorrami, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper focuses on the modelling and control of Unmanned Aerial Vehicles (UAVs) equipped with robotic arms, known as Unmanned Aerial Manipulators (UAMs). The main objective is to tackle the problem of controlling the UAV independently of the robot manipulator using adaptive backstepping techniques utilizing a lower dimensional simplified model of the overall system. To this end, we derive the full dynamics of the UAM. The proposed adaptive controller results in an aerial robot capable of all motions, while keeping computations to a minimum. The system studied consists of a UAV capable of lifting large payloads, equipped with 3 Degree of Freedom (DoF) revolute robotic manipulator. The efficiency of the proposed methods is verfified by simulating the designed aerial worker in various target tracking scenarios, which require simultaneous movement of all its components.

Original languageEnglish (US)
Title of host publication2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages498-503
Number of pages6
ISBN (Electronic)9781728142777
DOIs
StatePublished - Sep 2020
Event2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 - Athens, Greece
Duration: Sep 1 2020Sep 4 2020

Publication series

Name2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020

Conference

Conference2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
CountryGreece
CityAthens
Period9/1/209/4/20

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

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