Abstract
In this paper, a multi-propeller aerial robot with a passive manipulator for aerial manipulation is presented. In order to deal with the collision, external disturbance, changing inertia, and underactuated characteristic during the aerial manipulation, an adaptive trajectory linearization control (ATLC) scheme is presented to stabilize the multi-propeller aerial robot during the whole process. The ATLC controller is developed based on trajectory linearization control (TLC) method and model reference adaptive control (MRAC) method. The stability of the proposed system is analyzed by common Lyapunov function. Numerical simulations are carried out to compare the ATLC with TLC controller facing collision, external disturbance and changing inertia during an aerial manipulation. Experimental results prove that the developed robot can achieve aerial manipulation in the outdoor environment.
Highlights
In the recent years, aerial manipulation on multi-propeller aerial robot (MAR) has received extensive attention and rapid development worldwide
Due to the unique characteristics and low-cost advantages, MARs have been used for different applications, such as aerial manipulation, construction, and transportation in the early days of their appearance
Multi-degree of freedom (DOF) aerial manipulators, grippers, cables/tethers, and other similar equipment [3] are selected as manipulating devices [4]
Summary
Aerial manipulation on multi-propeller aerial robot (MAR) has received extensive attention and rapid development worldwide. Due to the unique characteristics and low-cost advantages, MARs have been used for different applications, such as aerial manipulation, construction, and transportation in the early days of their appearance
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