Control design for an aerial manipulator for pick-and-place tasks

Donglei Sun, Neng Wan, Naira Hovakimyan, Weichen Dai, Yu Zhang

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

Abstract

This paper presents a control architecture for an aerial manipulator operating in indoor environments. The objective is to provide a viable solution to the growing need for indoor assistive technology. The study tries to address the problem of payload pick-and-place with unknown mass. The control structure consists of i) a baseline pitch angle tracking controller that provides satisfactory performance for the quadrotor without a payload; ii) an adaptive augmentation that compensates for the disturbance in the rotational dynamics due to the unknown payload; iii) a horizontal position tracking controller that generates the pitch angle command; iv) a baseline vertical position tracking controller; and v) another adaptive augmentation controller that compensates for the disturbance in the vertical motion from the pick-and-place of the unknown payload. Since the robotic manipulator operates in the vertical plane of symmetry of the quadrotor, the control design is considered for the motion only in this plane. The controller is verified in a simulation environment.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2019 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105784
DOIs
StatePublished - Jan 1 2019
EventAIAA Scitech Forum, 2019 - San Diego, United States
Duration: Jan 7 2019Jan 11 2019

Publication series

NameAIAA Scitech 2019 Forum

Conference

ConferenceAIAA Scitech Forum, 2019
CountryUnited States
CitySan Diego
Period1/7/191/11/19

Fingerprint

Manipulators
Antennas
Controllers
Robotics

ASJC Scopus subject areas

  • Aerospace Engineering

Cite this

Sun, D., Wan, N., Hovakimyan, N., Dai, W., & Zhang, Y. (2019). Control design for an aerial manipulator for pick-and-place tasks. In AIAA Scitech 2019 Forum (AIAA Scitech 2019 Forum). American Institute of Aeronautics and Astronautics Inc, AIAA. https://doi.org/10.2514/6.2019-1291

Control design for an aerial manipulator for pick-and-place tasks. / Sun, Donglei; Wan, Neng; Hovakimyan, Naira; Dai, Weichen; Zhang, Yu.

AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, 2019. (AIAA Scitech 2019 Forum).

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

Sun, D, Wan, N, Hovakimyan, N, Dai, W & Zhang, Y 2019, Control design for an aerial manipulator for pick-and-place tasks. in AIAA Scitech 2019 Forum. AIAA Scitech 2019 Forum, American Institute of Aeronautics and Astronautics Inc, AIAA, AIAA Scitech Forum, 2019, San Diego, United States, 1/7/19. https://doi.org/10.2514/6.2019-1291
Sun D, Wan N, Hovakimyan N, Dai W, Zhang Y. Control design for an aerial manipulator for pick-and-place tasks. In AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA. 2019. (AIAA Scitech 2019 Forum). https://doi.org/10.2514/6.2019-1291
Sun, Donglei ; Wan, Neng ; Hovakimyan, Naira ; Dai, Weichen ; Zhang, Yu. / Control design for an aerial manipulator for pick-and-place tasks. AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, 2019. (AIAA Scitech 2019 Forum).
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