Rotorcraft MAV having and Onboard manipulator : Longitudinal Modeling and Robust Control.

Juan Antonio Escareño (1) , Micky Rakotondrabe (1) , Gerardo Ramon Flores (2) , Rogelio Lozano (2)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
2 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

The paper presents results on the modeling and control of a multi-body air vehicle concept that incorporates a robotic arm to a miniatute rotorcraft robot. One of our goals was to obtain a detailed model in order to identify and qualify inherent constraints provided by the interaction of both mechanical subsystems.To do this, we used the E uler- L agrange formulation. T he knowledge of the model of the interactive aerial robot allowed us to propose a hierarchical control scheme, where a nonlinear Sliding M ode C ontroller (SM C ) handle the translational motion while the rotational motion is addressed by a H∞ - based controller. N umerical simulations were carried out to validate the overal control approach.

Domaines: Micro et nanotechnologies/Microélectronique

Juan Antonio Escareño, Micky Rakotondrabe, Gerardo Ramon Flores, Rogelio Lozano. Rotorcraft MAV having and Onboard manipulator : Longitudinal Modeling and Robust Control.. European Control Conference (ECC 2013), Jul 2013, Zürich, Switzerland. pp.3258-3263. ⟨hal-00873212⟩