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Modeling and Control of a UAV Manipulator
, Sunil G.D.
Published in Institute of Electrical and Electronics Engineers Inc.
Pages: 454 - 459
A hierarchical control scheme for control of a quadrotor equipped with 2-link planar manipulator, which takes into consideration the dynamic coupling between the two, is proposed. The control scheme consists of three layers: a planning algorithm to determine the desired position setpoints for the quadrotor and the manipulator, a position control scheme to track these generated set-points and provide attitude references and a model-based attitude control scheme to track the provided attitude references. A simulation case-study is developed to demonstrate the functionality of the proposed control scheme. © 2019 IEEE.
About the journal
JournalData powered by Typeset2019 5th Indian Control Conference, ICC 2019 - Proceedings
PublisherData powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
Open AccessNo