Multi-rigid-body dynamics and online model predictive control for transformable multi-links aerial robot*. (2nd October 2019)

• Record Type: Journal Article
• Authors: Shi, Fan; Zhao, Moju; Anzai, Tomoki; Ito, Keita; Chen, Xiangyu; Nozawa, Shunichi; Okada, Kei; Inaba, Masayuki
• Is Part Of: Advanced robotics. Volume 33:Number 19(2019)
• Page Start: 971
• Page End: 984
• Publication Date: 2019-10-02
• Subjects: Aerial vehicle -- aerial transformation -- flight control -- non-linear model predictive controller -- motion primitives; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2019.1660710
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : Transformable multi-links aerial robots have great potentials in application relying on the transformable features to change its shape during the flight. Compared to traditional quadrotor robots, transformable multi-links robots are equipped with servo motor between links. To simplify the non-linear dynamic system, the previous work restricts the robot to transform in very slow speed so that the robot could be approximated as a quadrotor robot at each time point. However, tradeoff comes as the dynamic performance is given up. In this paper, we come up with a new framework combining of computationally efficient non-linear model predictive controller and motion primitive to optimize thrust force and joints trajectory of the multi-links aerial robot. Finally, we verify our framework with fast transformation motions and table tennis task which requires dynamic performance. GRAPHICAL ABSTRACT: