Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings

Abstract : This paper proposes a simple solution for stabilization of a mini-quadcopter carrying a 3DoF (Degrees of Freedom) manipulator robot in order to enhance the achievable workspace and application profile. Since the motion of the arm induces torques degrading the stability of the system, in the present work we cope with the stabilization of both subsystems; i.e. the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control consisting on a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control (nonlinear) design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.
Complete list of metadatas

Cited literature [23 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01910669
Contributor : Nicolas Marchand <>
Submitted on : Thursday, November 1, 2018 - 5:39:00 PM
Last modification on : Friday, January 10, 2020 - 11:40:04 AM
Long-term archiving on: Saturday, February 2, 2019 - 1:50:29 PM

File

IJAC_Alvarez_final.pdf
Files produced by the author(s)

Identifiers

Citation

J. Alvarez-Munoz, Nicolas Marchand, J.F. Guerrero-Castellanos, J. Tellez-Guzman, J. Escareño, et al.. Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings. International Journal of Automation and Computing, Springer Verlag, 2018, 15 (5), pp.547 - 558. ⟨10.1007/s11633-018-1145-8⟩. ⟨hal-01910669⟩

Share

Metrics

Record views

114

Files downloads

301