A Novel Robotic Platform for Aerial Manipulation Using Quadrotors as Rotating Thrust Generators

Intelligent trajectory tracking of an aircraft in the presence of internal and external disturbances

“…To be more precise, these parameters regulate the convergence rate of the system trajectory to the desired trajectory. Thus, assuming that the desired trajectory is admissible for the faulty system (which means that the desired trajectory can be tracked by the faulty system), the proper adjustment of the aforementioned parameters leads to the feasibility of the introduced optimization problem due to the convexity of the optimization equation . It means that the closed‐loop system is asymptotically stable assuming the system remains controllable after the fault occurrence.…”

“…Thus, assuming that the desired trajectory is admissible for the faulty system (which means that the desired trajectory can be tracked by the faulty system), the proper adjustment of the aforementioned parameters leads to the feasibility of the introduced optimization problem due to the convexity of the optimization equation. 44 It means that the closed-loop system is asymptotically stable assuming the system remains controllable after the fault occurrence. As a possible solution for determining admissible trajectories for the faulty system, a task-design approach has been proposed in the work of Nguyen et al 44 for a similar constrained convex optimization problem, which can be utilized in future research studies to update the desired trajectory according to the characteristics of the identified prediction model.…”

The Tele-MAGMaS: An Aerial-Ground Comanipulator System

“…This means that the robot can exert lateral forces without the need for re-orienting itself thus being able to track a decoupled reference trajectory in position and orientation, within the physical limits of the actuators. Such a design is gaining popularity in the literature [18]- [20] mainly because the multidirectional thrust aerial vehicles are, by design, particularly well suited for physical interaction tasks. Indeed, they can exert a decoupled set of forces and torques on their environment, independently of the contact point position.…”

Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility

“…where M θ ∈ n×n , M δ ∈ m×m , M θδ = M T δθ ∈ m×n are the inertia matrix, C θ ∈ n×n , C δθ ∈ m×n , C θδ ∈ n×m are the Corilois matrix, g(q) ∈ n+m is the gravity force vector, B(q) ∈ (n+m)×(n+2) is the input mapping matrix, τ m ∈ n is the joint torque and τ ar = λ ar R ar e 2 ∈ 2 is the aerial robot thrust input with the rotation matrix R ar ∈ SO(2), and the thrust magnitude λ ar ∈ . The inertia matrix for flexibility M δ and the stiffness matrix K are constant diagonal matrix where the off-diagonal terms are eliminated by the orthogonality properties (7) and (8). Note that the aerial robot rotation is independent to above dynamics thanks to the passive rotational joint design of the connector, thus the aerial robot rotational dynamics is excluded in (10).…”

“…The next step, naturally along this line of reasoning, would then be to extend humans' hands to the sky, namely, the problem of aerial operation and manipulation (e.g., [? ], [8]- [11]), which can be useful for such applications as infrastructure maintenance [12], remote construction [13], object transport and assembly [14]- [16], etc. Now, let us consider the problem of large-size structure construction.…”