Abstract
This study proposes a control method for the maneuvering control of an aircraft system equipped with a cable-driven gripper. The UAV chosen for the study is a hex-rotor due to its durability and redundancy. The reason for opting for the cable-driven robotic arm is because of its extended range as compared to a fixed robotic arm. The aircraft system also contains an Ultra HD camera which helps to locate and identify the target object. Since the UAV grabs the object, the extra weight introduces some instability in the system. To help stabilize the dynamic behavior of the gripper and reduce external wind disturbance, we need an effective and robust control mechanism. To tackle these issues, this paper designs a control method based on the Model Reference Adaptive Control with an integrator (MRACI) with reference dynamics like an observer. On one hand, first, verify the performance of the proposed controller using computer-based simulations. On the other hand, it also applies the designed method to hardware-based results. The simulations and experimental results show that the designed controller works as intended and the errors are within an acceptable range.
Highlights
In the modern era, grasping an object from a gripper has become an emerging research topic in the field of unmanned aerial vehicles (UAV) [1]–[3]
Different types of other tasks are performed, for example, to complete the canopy sampling task the aerial vehicle is equipped with scissors [4]
The aerial manipulator is composed of a hex rotor UAV, a cable-driven gripper, and wheels to travel some distance on the earth for stability and placing
Summary
In the modern era, grasping an object from a gripper has become an emerging research topic in the field of unmanned aerial vehicles (UAV) [1]–[3]. The primary motivation for this research is to design a controller that can complete the task of grasping an object, maintain the steady-state flight of the aerial vehicle and operate the cable-driven gripper effectively. Following are some advantages of UAV equipped with a gripper which are as follows: a) This UAV has the capability to grasp an object, travel distance on earth, and hover at some particular point; b) It attains compact structure with less drag; c) It has a capability to reduce noise intensity and propagation distance to some extent; d) It has a capability to perform steady-state flight in strong wind. In [17], a control scheme designed to dynamically stable aerial vehicles under the influence of grippers and grasped objects. The main contributions of this research article are as follows: To design an adaptive control technique for UAV which is used for change in the inertial moment during manipulation and for adapting external disturbances.
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