Underactuated Flexible Aerial Manipulators: a New Framework for Optimal Trajectory Planning Under Constraints Induced by Complex Dynamics

Khanmirza, Esmaeel; Daneshjou, K.; Ravandi, Abbas Karamali

doi:10.1007/s10846-017-0711-6

Cited by 8 publications

(2 citation statements)

References 36 publications

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“…In [15] was provided an optimal algorithm based on PSO and Kalman filtering to speed up the communication protocols in using swarm of UAVs. Khanmirza et al [16] used PSO to find optimal trajectories for quadrotor equipped with flexible manipulator. Many papers are also published about the application of computational intelligence optimization to off-line path planning and online trajectory planning process [17].…”

Section: Introductionmentioning

confidence: 99%

PSO-based online estimation of aerodynamic ground effect in the backstepping controller of quadrotor

Keshavarzian

Daneshjou

2020

J Braz. Soc. Mech. Sci. Eng.

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Stability of landing and forward flight of unmanned aerial vehicles near the ground is one of the challenging problems in the quadrotor control system. In real-time operation, when the rotary-wing vehicle flies close to the ground, the thrust increases are called ground effect. According to the flight and environmental conditions and the quality of ground surface, the aerodynamic ground effect is varied continuously. In this paper, a backstepping controller is designed and adjusted by using particle swarm optimization. Controller adjustment is referred to as the process of online estimation of the ground effect in various conditions. The stability analysis is performed and guaranteed by Lyapunov theory. The simulation results indicate that the proposed method is highly practical and capable of tracking the desired trajectory appropriately.

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Section: Introductionmentioning

confidence: 99%

PSO-based online estimation of aerodynamic ground effect in the backstepping controller of quadrotor

Keshavarzian

Daneshjou

2020

J Braz. Soc. Mech. Sci. Eng.

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“…The most attractive aspect of UARs is that they have enormous potential in interacting with the environment, such as taking samples of material from areas difficult to access, inspection and maintenance of high power lines, and transporting a payload. As a typical nonlinear and coupled system, several works about the UARs have been reported in the literature concerning kinematics and dynamics [1,2], trajectory planning [3], control [4,5], and cooperation [6]. In these works, the high-performance manipulation capacity of the UARs depends on an appropriate flight controller.…”

Section: Introductionmentioning

confidence: 99%

Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator

Ding

2019

International Journal of Aerospace Engineering

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The robust control issues in trajectory tracking of an unmanned aerial robot (UAR) are challenging tasks due to strong parametric uncertainties, large nonlinearities, and high couplings in robot dynamics. This paper investigates the dynamical modelling and robust control of an aerial robot using a hexarotor with a 2-degrees-of-freedom (DOF) manipulator in a complex aerial environment. Firstly, the kinematic model and dynamic model of the aerial robot are developed by the Euler-Lagrange method. Afterwards, a linear active disturbance rejection control is designed for the robot to achieve a high-accuracy trajectory tracking goal under heavy lumped disturbances. In this control scheme, the modelling uncertainties and external disturbances are estimated by a linear extended state observer, and the high tracking precision is guaranteed by a proportion-differentiation (PD) feedback control law. Meanwhile, an artificial intelligence algorithm is applied to adjust the control parameters and ensure that the state variables of the robot converge to the references smoothly. Furthermore, it requires no detailed knowledge of the bounds on unknown dynamical parameters. Lastly, numerical simulations and experiments validate the efficiency and advantages of the proposed method.

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Zhang

Meng

et al. 2023

Control of Underactuated Manipulators

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Underactuated Flexible Aerial Manipulators: a New Framework for Optimal Trajectory Planning Under Constraints Induced by Complex Dynamics

Cited by 8 publications

References 36 publications

PSO-based online estimation of aerodynamic ground effect in the backstepping controller of quadrotor

PSO-based online estimation of aerodynamic ground effect in the backstepping controller of quadrotor

Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator

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