Active Modeling Based Control for Aerial Manipulator Systems*

This paper describes recent research on the design, implement, and testing of a new small-scaled rotorcraft Unmanned Aerial Vehicle (RUAV) system—ServoHeli-40. A turbine-powered UAV weighted less than 15 kg was designed, and its major components were tested at the Shenyang Institute of Automation, Chinese Academy of Sciences in Shenyang, China. The aircraft was designed to reach a top speed of more than 20 mps, flying a distance of more than 10 kilometers, and it is going to be used as a test-bed for experimentally evaluating advanced control methodologies dedicated on improving the maneuverability, reliability, as well as autonomy of RUAV. Sensors and controller are all onboard. The full system has been tested successfully in the autonomous mode using the multichannel active modeling controller. The results show that in a real windy environment the rotorcraft UAV can follow the trajectory which was assigned by the ground control station exactly, and the new control method is obviously more effective than the one in the past year's research.

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Active Modeling and Control for Manipulators

10.1109/m2vip49856.2021.9665004 ◽

2021 ◽

Author(s):

Qingyi Zeng ◽

Xiangyu Wang ◽

Dongyang Bie ◽

Jianda Han

Keyword(s):

Modeling And Control ◽

Active Modeling ◽

And Control

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Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm

10.1109/icra48506.2021.9560827 ◽

2021 ◽

Author(s):

Zizhen Ouyang ◽

Ruidong Mei ◽

Zisen Liu ◽

Mingxin Wei ◽

Zida Zhou ◽

...

Keyword(s):

Robotic Arm ◽

Aerial Manipulator

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Control of an Aerial Manipulator With an On-Board Balancing Mechanism

Volume 4A: Dynamics, Vibration, and Control ◽

10.1115/imece2016-66976 ◽

2016 ◽

Author(s):

Jameson Y. Lee ◽

Zachary Cook ◽

Alexander Barzilov ◽

Woosoon Yim

Keyword(s):

Attitude Control ◽

Disturbance Rejection ◽

Unmanned Aerial Systems ◽

Control Methods ◽

Aerial Manipulation ◽

Single Body ◽

Aerial Manipulator ◽

The Many ◽

Aerial Systems ◽

Rotor Control

Multirotor Unmanned Aerial Systems (UAS) are highly mobile in flight and possess stable hovering capabilities. Because of their unique flight characteristics, the utilization of the platform for active tasks such as aerial manipulation is highly attractive. Much work has been done in recent years towards the implementation of multirotor for aerial manipulation, however, progress in the field has been slow due to the many challenges involved in the implementation of robust rotor control. In an attempt to reduce the effects of the manipulator, a technique for disturbance rejection using a novel balancing mechanism is proposed. In this paper, the dynamic equations of a coupled multirotor and manipulator are analyzed as a single body for use in the attitude control of the platform. By mounting the mechanism, the platform effectively gains marginal control over the positioning of its center of gravity relative to a body fixed frame. It can be shown that the increased mobility can be utilized to reduce rotor saturation for any given flight condition and improve the effectiveness of previously developed rotor control methods.

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