Leader/Follower Force Control of Aerial Manipulators

Abstract

This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing a cooperative manipulation task. Each UAM consists of an Unmanned Aerial Vehicle (UAV) with an attached serial-link robotic manipulator. The Recursive Newton-Euler dynamics formulation is employed to account for the interaction between the UAV and its manipulator. The overall system consists of a couple UAMs with a carrying load. The coupling between these systems is due to the exerted forces by their manipulators through the object characterized by its stiffness matrix. A leader/follower control scheme is employed with a stabilityanalysis tailored to the UAM-pair. The leader UAM defines the trajectory of the moving object while the follower acts so as to reduce the system's internal reaction forces. Simulation studies are employed to validate the controller's performance while comparing the system's response against that derived from a classical nonlinear tracking controller.

Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration

“…The use of Unmanned Aerial Vehicles (UAVs) towards autonomous task completion has received increased attention in the past decade. Indicative tasks include aerial manipulation in Gassner et al (2017) , Gkountas and Tzes (2021) , Nguyen and Alexis (2021) , Li et al (2021) , surveillance in Bisio et al (2021) , Tsoukalas et al (2021) , as well as Simultaneous Localization and Mapping (SLAM) in Papachristos et al (2019a) , Tsoukalas et al (2020) , Dang et al (2019) or inspection in Papachristos et al (2016) , Steich et al (2016) , Bircher et al (2015) ; these works necessitate the collaborating agents to exchange their relative pose (position and orientation).…”

A Leader-Follower Control Strategy for Input-Delay Stochastic Systems

“…Since then, the dynamic games have been extensively explored with the academic development [2]- [4]. Over the past decades, the leader-follower problem is widely applied in economic, technology, social science, and political science [5]- [10]. For example, in order to describe the demand response management and model the interactive relationship between insurer and reinsurer, the leader-follower game is respectively applied to the smart grid in [11] and the optimal reinsurance in [12].…”

Design of an Automated Control System of a Delta Manipulator With Microcontroller Based Machine Vision

“…These systems are widely and assiduously implemented in many industries. Machine vision in such systems is mostly based on personal computers or single board computers [1][2][3][4][5][6]. The new RISC-V core-based microcontrollers (MCU) show better performance in machine vision tasks than most single board computers [7].…”