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Hybrid Adaptive Control for Aerial Manipulation

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Abstract

This paper presents a control scheme to achieve dynamic stability in a mobile manipulating unmanned aerial vehicle (MM-UAV) using a combination of Gain scheduling and Lyapunov based model reference adaptive control (MRAC). Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the saftey of the aerial manipulation missions.

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Authors and Affiliations

  1. Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Zagreb, Croatia

    Matko Orsag & Stjepan Bogdan

  2. Drexel Autonomous Systems Lab, Drexel University, Philadelphia, PA, 19104, USA

    Christopher Michael Korpela & Paul Yu Oh

Authors
  1. Matko Orsag
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  2. Christopher Michael Korpela
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  3. Stjepan Bogdan
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  4. Paul Yu Oh
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Correspondence to Matko Orsag.

Additional information

This material is based on research sponsored by the Air Force Research Laboratory, under agreement number FA8655-13-1-3055. The U.S. Government is authorized to reproduce and distribute reprints for Governmental purposes notwithstanding any copyright notation thereon. The views and conclusions contained herein are those of the authors and should not be interpreted as necessarily representing the official policies or endorsements, either expressed or implied, of the Air Force Research Laboratory or the U.S. Government.

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Orsag, M., Korpela, C.M., Bogdan, S. et al. Hybrid Adaptive Control for Aerial Manipulation. J Intell Robot Syst 73, 693–707 (2014). https://doi.org/10.1007/s10846-013-9936-1

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  • DOI: https://doi.org/10.1007/s10846-013-9936-1

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