POSITION ANALYSIS AND CONTROL OF A NEW QUADROTOR MANIPULATION SYSTEM

Ahmed Khalifa and Mohamed Fanni

References

  1. [1] S. Gupte, P.I.T. Mohandas, and J.M. Conrad, A survey ofquadrotor unmanned aerial vehicles, Southeastcon, 2012 Proc. of IEEE, IEEE, 2012, 1–6.
  2. [2] D. Mellinger, Q. Lindsey, M. Shomin, and V. Kumar, Design, modeling, estimation and control for aerial grasping and manipulation, in 2011 IEEE/RSJ International Conf. on Intelligent Robots and Systems (IROS), IEEE, 2011, 2668–2673.
  3. [3] M. Bisgaard, A. la Cour-Harbo, and J. Dimon Bendtsen,Adaptive control system for autonomous helicopter slungload operations, Control Engineering Practice, 18(7), 2010,800–811.
  4. [4] N. Michael, J. Fink, and V. Kumar, Cooperative manipulation and transportation with aerial robots, Autonomous Robots, 30(1), 2011, 73–86.
  5. [5] A. Torre, D. Mengoli, R. Naldi, F. Forte, A. Macchelli, and L. Marconi, A prototype of aerial manipulator, in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conf. on, IEEE, 2012, 2653–2654.
  6. [6] F. Huber, K. Kondak, K. Krieger, D. Sommer, M. Schwarzbach, M. Laiacker, I. Kossyk, S. Parusel, S. Haddadin, and A. Albu-Schaffer, First analysis and experiments in aerial manipulation using fully actuated redundant robot arm, in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conf. on, IEEE, 2013, 3452–3457.
  7. [7] C.M. Korpela, T.W. Danko, and P.Y. Oh, Mm-uav: Mobilemanipulating unmanned aerial vehicle, Journal of Intelligent & Robotic Systems, 65(1–4), 2012, 93–101.
  8. [8] A. Jimenez-Cano, J. Martin, G. Heredia, A. Ollero, andR. Cano, Control of an aerial robot with multi-link arm forassembly tasks, in Robotics and Automation (ICRA), 2013IEEE International Conf. on, IEEE, 2013, 4916–4921.
  9. [9] G. Heredia, A. Jimenez-Cano, I. Sanchez, D. Llorente, V. Vega, J. Braga, J. Acosta, and A. Ollero, Control of a multirotor outdoor aerial manipulator, in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conf. on, IEEE, 2014, 3417–3422.
  10. [10] R. Cano, C. P´erez, F. Prua˜no, A. Ollero, and G. Heredia, “Mechanical design of a 6-dof aerial manipulator for assembling bar structures using uavs, RED-UAS, 2013.
  11. [11] F. Caccavale, P. Chiacchio, A. Marino, and L. Villani, Six-dof impedance control of dual-arm cooperative manipulators, Mechatronics, IEEE/ASME Transactions on, 13(5), 2008, 576–586.
  12. [12] A. Khalifa, M. Fanni, A. Ramadan, and A. Abo-Ismail, Modeling and control of a new quadrotor manipulation system, in 2012 IEEE/RAS International Conf. on Innovative Engineering Systems, IEEE, 2012, 109–114.
  13. [13] S. Kim, S. Choi, and H.J. Kim, Aerial manipulation using a quadrotor with a two dof robotic arm, in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conf. on, IEEE, 2013, 4990–4995.
  14. [14] J. Leishman, Principles of helicopter aerodynamics (New York, NY: Cambridge University Press, 2000).
  15. [15] L.-W. Tsai, Robot analysis: The mechanics of serial and parallel manipulators (Wiley-Interscience, 1999).
  16. [16] M. Elsamanty, A. Khalifa, M. Fanni, A. Ramadan, andA. Abo-Ismail, Methodology for identifying quadrotor param-eters, attitude estimation and control, in Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conf. on, IEEE, 2013, 1343–1348.
  17. [17] A. Khalifa, M. Fanni, A. Ramadan, and A. Abo-Ismail, Adaptive intelligent controller design for a new quadrotor manipulation system, in Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conf. on, IEEE, 2013, 1666–1671.
  18. [18] B.K. Kim and W.K. Chung, Performance tuning of robust motion controllers for high-accuracy positioning systems, Mechatronics, IEEE/ASME Transactions on, 7(4), 2002, 500–514.
  19. [19] S. Li, J. Yang, W.-H. Chen, and X. Chen, Disturbance observer-based control: methods and applications (CRC Press, 2014).
  20. [20] E. Sariyildiz, H. Yu, K. Yu, and K. Ohnishi, A nonlinear stability analysis for the robust position control problem of robot manipulators via disturbance observer, in Mechatronics (ICM), 2015 IEEE International Conf. on, IEEE, 2015, 28–33.
  21. [21] H.-T. Choi, S. Kim, J. Choi, Y. Lee, T.-J. Kim, and J.-W. Lee, A simplified model based disturbance rejection control for highly accurate positioning of an underwater robot, in Oceans-St. John’s, 2014, IEEE, 2014, 1–5.
  22. [22] X.-Y. Wang and Y.-J. Pi, Trajectory tracking control of a hydraulic parallel robot manipulator with lumped disturbance observer, International Journal of Robotics and Automation, 28(2), 2013, 103–111.
  23. [23] M. Chen, B. Jiang, and R.-X. Cui, Robust control for rigid robotic manipulators using nonlinear disturbance observer, International Journal of Robotics and Automation, 29(3), 2014, 305.
  24. [24] A. Khalifa, M. Fanni, A. Ramadan, and A. Abo-Ismail, Controller design of a new quadrotor manipulation system based on robust internal-loop compensator, 2015 IEEE International Conf. on Autonomous Robot Systems and Competitions (ICARSC), IEEE, 2015, 97–102.
  25. [25] P.J. From, J.T. Gravdahl, and K.Y. Pettersen, Vehicle-manipulator systems (New York, NY: Springer, 2014).
  26. [26] M.W. Spong, S. Hutchinson, and M. Vidyasagar, Robot modeling and control, vol. 3. (New York, NY: Wiley, 2006).
  27. [27] E. Sariyildiz and K. Ohnishi, Stability and robustness of disturbance-observer-based motion control systems, IEEE Transactions on Industrial Electronics, 62(1), 2015, 414–422.

Important Links:

Go Back