Title :
Design of control system for a four-rotor UAV equipped with robotic arm
Author :
Dmitry Bazylev;Artem Kremlev;Alexey Margun;Konstantin Zimenko
Author_Institution :
ITMO University, Saint Petersburg, Russia
Abstract :
The paper is devoted to the development of robust control for four-rotor aerial vehicle equipped with robotic arm based on the feedback linearization approach and finite-time control of the double integrator system. As a combined model of such system a quadrocopter and planar two link manipulator were chosen. Simulation results confirm efficiency of the proposed controller.
Keywords :
"Manipulators","Robustness","Tensile stress","Robot kinematics","Control systems","Algorithm design and analysis"
Conference_Titel :
Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2015 7th International Congress on
Electronic_ISBN :
2157-0221
DOI :
10.1109/ICUMT.2015.7382419
