Adaptive control system for quadrotor equiped with robotic arm

Author

Bazylev, Dmitry ; Zimenko, Konstantin ; Margun, Alexey ; Bobtsov, Alexey ; Kremlev, Artem

Author_Institution

ITMO Univ., St. Petersburg, Russia

fYear

2014

fDate

2-5 Sept. 2014

Firstpage

705

Lastpage

710

Abstract

This article proposes a new control design of quadrotor with attached 2-DOF robotic arm. Proposed adaptive control law is based on combined application of feedback linearization and consecutive compensator methods. Real time computation of the inertia tensor, center of mass position and the reactive torque generated by the manipulator is used to compensate the mutual influence of the system parts. The usefulness of the method is demonstrated by simulation results of the system with external perturbations in comparison with widespread PD controller.

Keywords

adaptive control; aircraft control; compensation; control system synthesis; feedback; helicopters; manipulators; perturbation techniques; tensors; adaptive control system; attached 2-DOF robotic arm; compensator methods; control design; external perturbations; feedback linearization; inertia tensor; quadrotor; real time computation; Manipulator dynamics; Mathematical model; Tensile stress; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4799-5082-9

Type

conf

DOI

10.1109/MMAR.2014.6957440

Filename

6957440