Decoupled Cascaded PID Control of an Aerial Manipulation System

2019-12-01
Bulut, Nebi
Turgut, Ali Emre
Arıkan, Kutluk Bilge
This paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm. Firstly, the kinematic model of the combined system and the Denavit-Hartenberg parameters of the serial robotic arm are obtained. Then, to derive the dynamics of the system, the quadrotor and the 2-DOF robotic arm are modeled as a combined system. The Lagrange-d'Alembert formulation is used to obtain the equation of motion of the combined system. Later, decoupled controllers are developed for the general-ized coordinates. Decoupled cascaded PID controllers are designed for trajectory tracking of the combined system. Proposed control algorithms are implemented in the MATLAB/Simulink environment and tested using the highly nonlinear system model in simulation. The robustness of the controllers is checked by applying disturbance forces from different directions at the tip point of the 2-DOF robotic arm. The proposed control algorithms performed satisfactorily and showed very low absolute errors
Hittite Journal of Science and Engineering

Suggestions

Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm
Bulut, Nebi; Turgut, Ali; Aríkan, Kutluk (SCITEPRESS, AV D MANUELL, 27A 2 ESQ, SETUBAL, 2910-595, PORTUGAL; 2019)
This paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm by using the computed torque control method. The kinematic and dynamic model of the system is obtained by modeling the quadrotor and the robotic arm as a unified system. Then, the equation of motion of the unified system is got in the form of a standard robot dynamics equation. For the trajectory control of the system, computed torque control is used. Gains of the controller are optimized by using nonli...
Modeling, simulation, and control of a quadrotor having a 2-dof robotic arm
Bulut, Neb; Turgut, Ali Emre; Department of Mechanical Engineering (2019)
In this thesis, modeling, simulation, and control of a combined system that consists of a quadrotor and a 2-DOF robotic serial manipulator are presented. Firstly, the kinematic and dynamic model of the combined system are obtained. Then, the equation of motion of the combined system is derived by using Lagrange-D’Alembert formulation. Based on these equations, control algorithms are developed to control the combined system. Firstly, the cascaded PID controllers are designed by using the linearized decoupled...
Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control
Pouya, Soha; Aydın Göl, Ebru; Moeckel, Rico; Ijspeert, Auke Jan (2011-01-01)
This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and ...
Self-organized flocking in mobile robot swarms
Turgut, Ali Emre; Gökçe, Fatih; Şahin, Erol (2008-09-01)
In this paper, we study self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies. We describe its infrared-based short range sensing system, capable of measuring the distance from obstacles and detecting kin robots, and a novel sensing system called the virtual heading system (VHS) which uses a digital compass and a wireless communication module for sensing the relative headings of neighboring robots. We propose a behavi...
Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises
Kılıçaslan, Sinan; Özgören, Mustafa Kemal; Ider, Sıtkı Kemal (2022-07-01)
This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic equations to avoid complex dynamic equations. In this approach, each link is modeled as if there is no connection between the links. Then, joint connections are expressed as constraint equations. After that, the...
Citation Formats
N. Bulut, A. E. Turgut, and K. B. Arıkan, “Decoupled Cascaded PID Control of an Aerial Manipulation System,” Hittite Journal of Science and Engineering, pp. 251–259, 2019, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/52229.