Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm

2019
Bulut, Nebi
Turgut, Ali
Aríkan, Kutluk
Show full item record
Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
403
views
416
downloads
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 nonlinear least squares method. The performance and stability of the control structure are tested with a simulation case study.
Aerial Manipulation, Computed Torque Control, Gain Optimization, Robotics, Quadrotor
https://hdl.handle.net/11511/58146
Department of Mechanical Engineering, Conference / Seminar

Suggestions

Decoupled Cascaded PID Control of an Aerial Manipulation System
Bulut, Nebi; Turgut, Ali Emre; Arıkan, Kutluk Bilge (2019-12-01)
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 gener...
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...
Optimal Control of a Smart Beam by Using a Luenberger Observer
Onat, Cem; Şahin, Melin; Yaman, Yavuz (2013-06-26)
This paper presents the design of an optimal vibration control mechanism, namely an LQR controller, with a Luenberger observer for a smart beam having surface bonded piezoelectric sensors and actuators. The approach intends to suppress the vibrations of the first flexural resonance of the smart beam. The smart beam studied was a cantilever aluminium beam with eight surface bonded Lead-Zirconate-Titanate (PZT) patches in bimorph configuration. The smart beam was excited at its first resonance frequency (appr...
Adaptive Nonlinear Control Combined With Unscented Kalman Filter for Permanent Magnet Synchronous Motor Fed by AC/DC/AC Converter
Titaouine, A.; Taibi, D.; Bennis, O.; Benchabane, F.; Boumaraf, R.; Yahia, K. (2011-09-10)
In this paper, a adaptive non-linear controller is presented for permanent magnet synchronous motor (PMSM) sensorless drives. The adaptive non-linear controller is designed based on an input-output feedback linearization control technique. The unscented Kalman filter is used to estimate the speed, position and load torque. The PMSM is fed by an indirect power electronics converter. This indirect converter is controlled by a sliding mode technique that enables minimization of harmonics introduced by the line...
Adaptive longitudinal control of aircraft using synthetic jets
Muse, Jonathan A.; Kutay, Ali Türker; Calise, Anthony J. (2007-01-01)
This paper presents an adaptive control approach for controlling the longitudinal dynamics of a generic lifting surface using imbedded flow control actuators. Such actuators offer a unique opportunity for rapid maneuvering and gust rejection with low power consumption. The model's state is controlled over a broad range of angles of attack and model dynamic characteristics when the baseline flow is fully attached using bi-directional pitching moment that is effected by flow-controlled trapped vorticity conce...
Citation Formats
N. Bulut, A. Turgut, and K. Aríkan, “Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm,” 2019, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/58146.
METU IIS - Integrated Information Service open@metu.edu.tr