Quaternion Modeling and Observer-based Torque Compensation of an Aerial Manipulator

Jonatan Alavrez Muños (1) , Juan Antonio Escareno (1) , Nicolas Marchand (2) , Jose Fermi Guerrero Castellanos (3, 4) , Thibaut Raharijaona (5) , Micky Rakotondrabe (4)

1 IPSA - Institut Polytechnique des Sciences Avancées
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
3 FCE BUAP - Facultad de Ciencias de la Electrónica [Puebla]
4 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
5 ISM - Institut des Sciences du Mouvement Etienne Jules Marey

This paper proposes a simple solution regarding the stabilization of a quadcopter unmanned aerial vehicle endowed with a manipulator arm. The manipulator robot is attached below the rotors plane and this one induces torques producing stability issues. The present study deals with the stabilization of the full system (quadcopter and arm) by means of a set of nonlinear control techniques. First, a mathematical model is proposed for the system. Then, an attitude control, consisting on a bounded quaternion-based feedback allows the quadcopter attitude stabilization while compensating adverse torques from manipulator’s motion. A simpleto-implement strategy is proposed to estimate the actual torque for compensation purposes. Then, the formulation of a nonlinear control, which drives the aerial vehicle to a desired position is presented. Both controls consist on saturation functions. Simulation results validate the proposed control strategy and compare the results with different manipulator torque estimations.

Mots clés: Euler-Lagrange and Quaternion Modeling; Stochastic vs Deterministic State Estimation; Aerial Manipulation; Nonlinear Control; Euler-Lagrange and Quaternion Modeling

Domaines: Algorithme et structure de données [cs.DS]; Automatique / Robotique

Jonatan Alavrez Muños, Juan Antonio Escareno, Nicolas Marchand, Jose Fermi Guerrero Castellanos, Thibaut Raharijaona, et al.. Quaternion Modeling and Observer-based Torque Compensation of an Aerial Manipulator. MICNON 2018 - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear, Jun 2018, Jalisco, Mexico. pp.543-548, ⟨10.1016/j.ifacol.2018.07.336⟩. ⟨hal-03053030v2⟩