In this paper a novel hierarchical motion control scheme for quadrotor aerial vehicles equipped with a manipulator is proposed. The controller is organized into two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the top layer. A simulation case study is developed to demonstrate the effectiveness of the approach in the presence of disturbances and unmodeled dynamics.

Control of Quadrotor Aerial Vehicles Equipped with a Robotic Arm

CACCAVALE, Fabrizio;MUSCIO, GIUSEPPE;PIERRI, FRANCESCO
2013-01-01

Abstract

In this paper a novel hierarchical motion control scheme for quadrotor aerial vehicles equipped with a manipulator is proposed. The controller is organized into two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the top layer. A simulation case study is developed to demonstrate the effectiveness of the approach in the presence of disturbances and unmodeled dynamics.
2013
9781479909957
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11563/52465
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 75
  • ???jsp.display-item.citation.isi??? 49
social impact