TY - GEN
T1 - Modeling and control aspects of a UAV with an attached manipulator
AU - Stergiopoulos, Yiannis
AU - Kontouras, Efstathios
AU - Gkountas, Konstantinos
AU - Giannousakis, Konstantinos
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/5
Y1 - 2016/8/5
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84986200947&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84986200947&partnerID=8YFLogxK
U2 - 10.1109/MED.2016.7535922
DO - 10.1109/MED.2016.7535922
M3 - Conference contribution
AN - SCOPUS:84986200947
T3 - 24th Mediterranean Conference on Control and Automation, MED 2016
SP - 653
EP - 658
BT - 24th Mediterranean Conference on Control and Automation, MED 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th Mediterranean Conference on Control and Automation, MED 2016
Y2 - 21 June 2016 through 24 June 2016
ER -