Abstract
Multirotors with manipulator arms are multibody systems whose mass characteristics (position of center of mass and moments of inertia) change with time when the arms move and bear reaction torques generated by the arm servos. This chapter presents a control system for aerial manipulators based on integral backstepping that estimates all these effects to effectively stabilize the rotational dynamics of the aerial robot. Validation experiments are also presented in the chapter.
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References
Jimenez-Cano, A.E., Martin, J., Heredia, G., Ollero, A., Cano, R.: Control of an aerial robot with multi-link arm for assembly tasks. In: 2013 ICRA, pp. 4916–4921 (2013)
Heredia, G., Jimenez-Cano, A.E., Sanchez, I., Llorente, D., Vega, V., Braga, J., Acosta, J.A., Ollero, A.: Control of a multirotor outdoor aerial manipulator. In: IEEE International Conference on Intelligent Robots and Systems (2014)
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Jimenez-Cano, A., Heredia, G., Ollero, A. (2019). Centralized Control of Multirotors with Manipulators . In: Ollero, A., Siciliano, B. (eds) Aerial Robotic Manipulation. Springer Tracts in Advanced Robotics, vol 129. Springer, Cham. https://doi.org/10.1007/978-3-030-12945-3_8
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DOI: https://doi.org/10.1007/978-3-030-12945-3_8
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