Modeling and control aspects of a UAV with an attached manipulator

Yiannis Stergiopoulos, Efstathios Kontouras, Konstantinos Gkountas, Konstantinos Giannousakis, Anthony Tzes

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

Abstract

This article addresses the problem of the modeling and control of an Unmanned Aerial System (UAS) that consists of a UAV carrying a robotic manipulator. The dynamics of the UAS are derived based on the recursive Newton-Euler equations in order to handle the floating-base effect. Accordingly, the dynamics account for the force and torque transferred from the base of the manipulator to the UAV and the translational and angular velocities and accelerations from the UAV to the manipulator. The integrated nonlinear dynamic equations are symbolically derived and efficient code for execution at embedded systems is generated. An efficient nonlinear control scheme regulates the states of the UAS to a desired configuration. Simulation results are provided to evaluate the performance of the developed strategy, in comparison to the ones derived by simplifying the coupling of the UAV and manipulator dynamics by considering only the spatial coordinates of the center of mass of the manipulator.

Original languageEnglish (US)
Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages653-658
Number of pages6
ISBN (Electronic)9781467383455
DOIs
StatePublished - Aug 5 2016
Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
Duration: Jun 21 2016Jun 24 2016

Publication series

Name24th Mediterranean Conference on Control and Automation, MED 2016

Other

Other24th Mediterranean Conference on Control and Automation, MED 2016
CountryGreece
CityAthens
Period6/21/166/24/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Modeling and Simulation

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  • Cite this

    Stergiopoulos, Y., Kontouras, E., Gkountas, K., Giannousakis, K., & Tzes, A. (2016). Modeling and control aspects of a UAV with an attached manipulator. In 24th Mediterranean Conference on Control and Automation, MED 2016 (pp. 653-658). [7535922] (24th Mediterranean Conference on Control and Automation, MED 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2016.7535922