Control of Quadrotor Aerial Vehicles Equipped with a Robotic Arm

被引：0
|
作者：
Arleo, G. [1 ]
Caccavale, F. [1 ]
Muscio, G. [1 ]
Pierri, F. [1 ]
机构：
[1] Univ Basilicata, Sch Engn, I-85100 Potenza, Italy
来源：
2013 21ST MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2013年
关键词：
KINEMATIC CONTROL; CONTROL-SYSTEM; FLIGHT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a novel hierarchical motion control scheme for quadrotor aerial vehicles equipped with a manipulator is proposed. The controller is organized into two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the top layer. A simulation case study is developed to demonstrate the effectiveness of the approach in the presence of disturbances and unmodeled dynamics.
引用
收藏
页码：1174 / 1180
页数：7
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