Decoupled Cascaded PID Control of an Aerial Manipulation System

Date

2019-12-01

Author

Bulut, Nebi
Turgut, Ali Emre
Arıkan, Kutluk Bilge

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URI

https://www.hjse.hitit.edu.tr/hjse/index.php/HJSE/article/view/403
https://hdl.handle.net/11511/83125

Journal

Hittite Journal of Science Engineering

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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...
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Citation Formats

N. Bulut, A. E. Turgut, and K. B. Arıkan, “Decoupled Cascaded PID Control of an Aerial Manipulation System,” Hittite Journal of Science Engineering, pp. 251–259, 2019, Accessed: 00, 2021. [Online]. Available: https://www.hjse.hitit.edu.tr/hjse/index.php/HJSE/article/view/403.