Abstract
This paper focuses on the dynamic stability analysis of a manipulator mounted on a quadrotor unmanned aerial vehicle, namely, a manipulating unmanned aerial vehicle (MUAV). Manipulator movements and environments interaction will extremely affect the dynamic stability of the MUAV system. So the dynamic stability analysis of the MUAV system is of paramount importance for safety and satisfactory performance. However, the applications of Lyapunov’s stability theory to the MUAV system have been extremely limited, due to the lack of a constructive method available for deriving a Lyapunov function. Thus, Lyapunov exponent method and impedance control are introduced, and the Lyapunov exponent method can establish the quantitative relationships between the manipulator movements and the dynamics stability, while impedance control can reduce the impact of environmental interaction on system stability. Numerical simulation results have demonstrated the effectiveness of the proposed method.
Highlights
Unmanned aerial vehicles (UAVs), especially the quadrotors, have developed rapidly and been widely applied in many ways [1], for example, aerial photography, power line patrol, and surveillance [2]
Dynamic stability researches of UAVs especially manipulating unmanned aerial vehicle (MUAV) are very necessary and important to ensure that the whole system is safe and reliable
This paper focuses on the modeling and the dynamic stability analysis of a single DOF manipulator mounted on a quadrotor unmanned aerial vehicle
Summary
Unmanned aerial vehicles (UAVs), especially the quadrotors, have developed rapidly and been widely applied in many ways [1], for example, aerial photography, power line patrol, and surveillance [2]. There is no constructive method available for deriving the functions, so it is quite difficult to establish the Lyapunov functions especially for the nonlinear system of MUAV with multiple variables, strong coupling, and underactuation To solve this problem, Lyapunov exponent method has been introduced and widely used. This paper focuses on the modeling and the dynamic stability analysis of a single DOF manipulator mounted on a quadrotor unmanned aerial vehicle. Lyapunov exponent method is used to analyze the stability affected by different manipulator movements and the Newton-Euler recursive method is used to quantify the coupling between the manipulator and the quadrotor, after which coupling compensation is considered in the controller design.
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