TY - GEN
T1 - Trajectory linearization tracking control for dynamics of a multi-propeller and multifunction aerial robot - MMAR
AU - Ding, Xilun
AU - Yu, Yushu
AU - Zhu, J. Jim
PY - 2011
Y1 - 2011
N2 - In this paper, a multi-propeller multifunction aerial robot (MMAR) capable of flying, wall-climbing and arm-operating is presented. Four propellers are devoted to the attitude control of the robot, and two manipulators are designed for the wall-climbing and arm-operating modes. When the aerial robot works in wall-climbing and arm-operating, there are dynamics coupling between the manipulators and the main body. The dynamics of manipulators depends on the motion of the main body, and the motion of manipulators will have reaction force and torque applied on the main body. The dynamics modeling of the robot is investigated by using recursive method. Based on the model, the trajectory linearization control of the robot is proposed. The controller of the robot when it transitions between its flight mode and wall-climbing mode is then designed. The simulation verification of the controller is presented, which can verified the feasibility of the controller.
AB - In this paper, a multi-propeller multifunction aerial robot (MMAR) capable of flying, wall-climbing and arm-operating is presented. Four propellers are devoted to the attitude control of the robot, and two manipulators are designed for the wall-climbing and arm-operating modes. When the aerial robot works in wall-climbing and arm-operating, there are dynamics coupling between the manipulators and the main body. The dynamics of manipulators depends on the motion of the main body, and the motion of manipulators will have reaction force and torque applied on the main body. The dynamics modeling of the robot is investigated by using recursive method. Based on the model, the trajectory linearization control of the robot is proposed. The controller of the robot when it transitions between its flight mode and wall-climbing mode is then designed. The simulation verification of the controller is presented, which can verified the feasibility of the controller.
UR - http://www.scopus.com/inward/record.url?scp=84869508196&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5979770
DO - 10.1109/ICRA.2011.5979770
M3 - Conference contribution
AN - SCOPUS:84869508196
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 757
EP - 762
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -