Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings
文献类型：期刊论文
| 作者 | J. Alvarez-Munoz5; N. Marchand4; J. F. Guerrero-Castellanos3; J. J. Tellez-Guzman4; J. Escareno2; M. Rakotondrabe1 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2018 |
| 卷号 | 15期号:5页码:547-558 |
| 关键词 | Observer-based control quaternion and Newton-Euler modeling bounded-input control aerial manipulator disturbance rejection. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-018-1145-8 |
| 英文摘要 | This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF (degrees of freedom) manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems: the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control (nonlinear) design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42432]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.FEMTO-ST Institute, UMR CNRS-UFC/ENSMM/UTBM, Automatic Control and Micro-Mechatronic Department, FR Besançon, France 2.University of Limoges ENSIL - ENSCI, XLIM Laboratory UMR CNRS 7252, Parc Ester Technopole, 16 rue Atlantis, Limoges 87068, France 3.Autonomous University of Puebla (BUAP), Faculty of Electronics, MX 72570 Puebla, Mexico 4.Univ. Grenoble Alpes, GIPSA-Lab, FR-38000 Grenoble, France 5.Polytechnic Institute of Advanced Sciences, FR 94200 Paris, France |
| 推荐引用方式 GB/T 7714 | J. Alvarez-Munoz,N. Marchand,J. F. Guerrero-Castellanos,et al. Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings[J]. International Journal of Automation and Computing,2018,15(5):547-558. |
| APA | J. Alvarez-Munoz,N. Marchand,J. F. Guerrero-Castellanos,J. J. Tellez-Guzman,J. Escareno,&M. Rakotondrabe.(2018).Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings.International Journal of Automation and Computing,15(5),547-558. |
| MLA | J. Alvarez-Munoz,et al."Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings".International Journal of Automation and Computing 15.5(2018):547-558. |
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来源：自动化研究所
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