Abstract
This paper addresses the control problem of an unmanned aerial vehicle (UAV) endowed with a tool to physically contact with the environment. Deploying an arm attached on UAV to utilize an interaction, particularly in close proximity to the environment, can be a more demanding task. To conduct a feasible operation, a tailored elastic arm is designed to employ a centralized predictive interaction control by leveraging the nonlinear quadrotor UAV model. For the system's physical bounds and sets for the UAV and its tool, an analysis is given. In order to maintain a feasible interaction and generate smooth trajectories, flatness-based outputs are defined. Consequently, a centralized optimization algorithm respecting system constraints and nonlinearities for the quadrotor-tool interaction is developed. The proposed approach is validated through experiments for the push recovery and sliding on the ceiling cases in real-time. Due to the dimension of the nonlinear model, the computation time is heavier than one of the possible decomposed models. However, the designed centralized algorithm for the constrained optimization-based control is solved in an average of 2.3 ms in this implementation.
Original language | English |
---|---|
Title of host publication | AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Pages | 472-477 |
Number of pages | 6 |
ISBN (Print) | 9781538618547 |
DOIs | |
Publication status | Published - 30 Aug 2018 |
Event | 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand Duration: 9 Jul 2018 → 12 Jul 2018 |
Publication series
Name | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
---|---|
Volume | 2018-July |
Conference
Conference | 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 |
---|---|
Country/Territory | New Zealand |
City | Auckland |
Period | 9/07/18 → 12/07/18 |
Bibliographical note
Publisher Copyright:© 2018 IEEE.