Dynamic modeling and control for aerial arm-operating of a multi-propeller multifunction aerial robot. (3rd July 2017)

• Record Type: Journal Article
• Authors: Yu, Yushu; Ding, Xilun; Zhu, J. Jim
• Is Part Of: Advanced robotics. Volume 31:Number 13(2017)
• Page Start: 665
• Page End: 679
• Publication Date: 2017-07-03
• Subjects: Aerial robot -- dynamic modeling -- composite control -- optimal planning -- trajectory linearization control; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2017.1314227
• Languages: English
• ISSNs: 0169-1864

Abstract

Graphical Abstract: Abstract: We proposed a multi-propeller multifunction aerial robot that is constructed by a quadrotor with two multi-DOF arms to enable aerial robotic operations. This paper addresses the dynamics and control problems for aerial arm-operation. The dynamic modeling considering the coupling between the arms and main-body subsystems is investigated using the Lagrange approach. The dynamics of the system are partitioned into the main-body dynamics, the arm dynamics, and the interaction dynamics. A composite controller consisting of a main-body sub-controller and an arm sub-controller are presented. Each sub-controller is designed based on the partitioned dynamics. The main-body sub-controller is designed using trajectory linearization control technique. This composite controller is appropriate for real-time implementation due to its simplicity. An optimal planning strategy that minimizes the interaction between main-body subsystem and arm subsystem is proposed. Experimental results are presented, verifying the effectiveness of the composite controller.