An adaptive hierarchical control for aerial manipulators. Issue 10 (30th July 2018)

• Record Type: Journal Article
• Authors: Pierri, Francesco; Muscio, Giuseppe; Caccavale, Fabrizio
• Is Part Of: Robotica. Volume 36:Issue 10(2018)
• Page Start: 1527
• Page End: 1550
• Publication Date: 2018-07-30
• Subjects: Aerial Manipulation, -- Adaptive Control, -- Model-Based Control; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574718000553
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: This paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach.