Nonlinear control of a nano-hexacopter carrying a manipulator arm

Abstract

This paper proposes a simple solution for stabilization of a nano-hexacopter carrying a manipulator arm in order to increase the type of missions achievable by these types of systems. The manipulator arm is attached to the lower part of the hexacopter. The motion of the arm induces a change of the center of mass of the whole body, which induces torques which can produce the loss of stability. The present work deals with the stabilization of the whole system -that is hexacopter and arm -by means of a set of nonlinear control laws. First, an attitude control, stabilizes the hexacopter to a desired attitude taking into account the movement of the arm. Then, a suitable virtual control and the translational dynamics allow the formulation of a nonlinear controller, which drives the aerial vehicle to a desired position. Both controls consist in saturation functions. Experimental results validate the proposed control strategy and compares the results when the motion of the arm is taken into account or not.

Velocity control of mini-UAV using a helmet system

“…1) Boundary velocity control: Dynamics of the whole system is obtained with the Newton-Euler formalism and the kinematics is represented using the quaternions formalism, and is given by (2) and (1). Note that the rotation matrix R can be given in function of Euler angles, as shown in [11].…”

Navigation control and stability investigation of a mobile robot based on a hexacopter equipped with an integrated manipulator

“…3 The contribution of this article lies in simplifying the dynamic modeling of the flying object equipped with a robotic arm. By deducing the equations of motion, with the inclusion of direct disturbances that represent the robotic arm movement, by the equations of force and moment, in comparison with other works of Lucia et al 3 and Alvarez-Munoz et al, 4 which relied on a complex mechanism through the mathematical modeling of certain arms of fixed design, and adding it to the flying object equations. This is considered limited, complex, and does not cover the changes that may occur in the air and weather conditions to which the aircraft is exposed in the air far from laboratory conditions.…”

“…The contribution of this research lies in deducing a precise and detailed mathematical model of a hexacopter type aircraft in comparison with other researches like Alvarez-Munoz et al 15 that relied on assumptions and simplifications to make the modeling easier like mass distribution and other parameters in the body of the aircraft. The equations of motion of the whole system were designed using the Newton-Euler formulation for translational and rotational dynamics of a rigid body.…”

A framework for intuitive collaboration with a mobile manipulator

“…Recently, researchers have embedded manipulators on aerial robots [7], [8]. In such scenarios, the dynamic effects of the arm motion must be taken into account, along with redundancy, to keep the robot stable.…”