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

  • J. Alvarez-MunozEmail author
  • N. Marchand
  • J. F. Guerrero-Castellanos
  • J. J. Tellez-Guzman
  • J. Escareno
  • M. Rakotondrabe
Research Article


This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF (degrees of freedom) manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems: the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of 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.


Observer-based control quaternion and Newton-Euler modeling bounded-input control aerial manipulator disturbance rejection 


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This work was supported by CONACYT-Mexico, LabEx PERSYVAL-Lab (No. ANR-11-LABX-0025) and Equipex ROBOTEX (No. ANR-10-EQPX-44-01).


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Copyright information

© Institute of Automation, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Polytechnic Institute of Advanced SciencesParisFrance
  2. 2.GIPSA-LabUniv. Grenoble AlpesGrenobleFrance
  3. 3.Faculty of ElectronicsAutonomous University of Puebla (BUAP)PueblaMexico
  4. 4.XLIM Laboratory UMR CNRS 7252University of Limoges ENSIL - ENSCILimogesFrance
  5. 5.Automatic Control and Micro-Mechatronic DepartmentFEMTO-ST Institute, UMR CNRS-UFC/ENSMM/UTBMFR BesançonFrance

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