Modeling and controlling of quadrotor aerial vehicle equipped with a gripper

Zain Anwar Ali,Xinde Li

doi:10.1177/0020294019834040

Abstract

Arm mounted unmanned aerial vehicles provide more feasible and attractive solution to manipulate objects in remote areas where access to arm mounted ground vehicles is not possible. In this research, an under-actuated quadrotor unmanned aerial vehicle model equipped with gripper is utilized to grab objects from inaccessible locations. A dual control structure is proposed for controlling and stabilization of the moving unmanned aerial vehicle along with the motions of the gripper. The control structure consists of model reference adaptive control augmented with an optimal baseline controller. Although model reference adaptive control deals with the uncertainties as well as attitude controlling of unmanned aerial vehicle, baseline controller is utilized to control the gripper, remove unwanted constant errors and disturbances during arm movement. The proposed control structure is applied in 6-degree-of-freedom nonlinear model of a quadrotor unmanned aerial vehicle equipped with gripper having (2 degrees of freedom) robotic limb; it is applicable for the simulations to desired path of unmanned aerial vehicle and to grasp object. Moreover, the efficiency of the presented control structure is compared with optimal baseline controller. It is observed that the proposed control algorithm has good transient behavior, better robustness in the presence of continuous uncertainties and gripper movement involved in the model of unmanned aerial vehicle.

Highlights

In modern era, unmanned aerial vehicles (UAVs) are hired in a wide range of military and civilian applications
A fully actuated UAV along with failed actuators is considered as under-actuated system, which is controlled by an under-actuated control algorithm
It would be able to handle the constant disturbances in the system and perform the desired task; (3) the fine tuning of the system is done by using adaptive control laws and its stability is dealt by Lyapunov equation; (4) to minimize the Riccati equation for the calculation of state feedback gain by using optimal matrices is a major design issue in optimal baseline controller

Summary

Introduction

In modern era, unmanned aerial vehicles (UAVs) are hired in a wide range of military and civilian applications. It would be able to handle the constant disturbances in the system and perform the desired task; (3) the fine tuning of the system is done by using adaptive control laws and its stability is dealt by Lyapunov equation; (4) to minimize the Riccati equation for the calculation of state feedback gain by using optimal matrices is a major design issue in optimal baseline controller The content of this manuscript is structured as follows. To evaluate the effectiveness of the designed controller, the dynamic simulations of the proposed UAV model along with gripper are performed in MATLAB 2015/Simulink.

Conclusion

Future work