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Nonlinear Trajectory Control of Multi-body Aerial Manipulators

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Abstract

This paper studies trajectory control of aerial vehicles equipped with robotic manipulators. The proposed approach employs free-flying multi-body dynamics modeling and backstepping control to develop stabilizing control laws for a class of underactuated aerial systems. Two control methods are developed: coordinate-based and coordinate-free which are both generally applicable to aerial manipulation tasks. A simulated hexrotor vehicle equipped with a simple manipulator is employed to demonstrate the proposed techniques.

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Authors and Affiliations

  1. Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA

    Marin Kobilarov

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  1. Marin Kobilarov
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Correspondence to Marin Kobilarov.

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Kobilarov, M. Nonlinear Trajectory Control of Multi-body Aerial Manipulators. J Intell Robot Syst 73, 679–692 (2014). https://doi.org/10.1007/s10846-013-9934-3

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  • DOI: https://doi.org/10.1007/s10846-013-9934-3

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