Nonlinear Dynamics and Control of Aerial Robots

Aerial robotics is one of the fastest growing industry and has a number of evolving applications. Higher agility make aerial robots ideal candidate for applications like rescue missions especially in difficult to access areas. This chapter first derives the complete nonlinear dynamics of an aerial robot consisting of a quadcopter with a twolink robot manipulator. Precise control of such an aerial robot is a challenging task due to the fact that the translational and rotational dynamics of the quadcopter are strongly coupled with the dynamics of the manipulator. We extend our previous results on the control of quadrotor UAVs to the control of aerial robots. In particular, we design a backstepping and Lyapunov-based nonlinear feedback control law that achieves pointto-point control of the areal robot. The effectiveness of this feedback control law is illustrated through a simulation example.

[1]  Mahmut Reyhanoglu,et al.  Dynamic neural network-based sliding mode estimation of quadrotor systems , 2017, 2017 American Control Conference (ACC).

[2]  J. Karl Hedrick,et al.  Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control , 2009, IEEE Transactions on Control Systems Technology.

[3]  Shen Lincheng,et al.  A new feedback linearization LQR control for attitude of quadrotor , 2014, ICARCV.

[4]  Damen Remon,et al.  Passivity-based quaternion feedback control of a hover system , 2016 .

[5]  Rogelio Lozano,et al.  Adaptive Trajectory Following for a Fixed-Wing UAV in Presence of Crosswind , 2013, J. Intell. Robotic Syst..

[6]  Giuseppe Muscio,et al.  Control of quadrotor aerial vehicles equipped with a robotic arm , 2013, 21st Mediterranean Conference on Control and Automation.

[7]  Nicolas Marchand,et al.  Improving control of quadrotors carrying a manipulator arm , 2014 .

[8]  Mahmut Reyhanoglu,et al.  Sliding mode control of fixed-wing UAVs in windy environments , 2014, 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV).

[9]  Mahmut Reyhanoglu,et al.  Nonlinear output feedback tracking control of a quadrotor UAV in the presence of uncertainty , 2016, 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV).

[10]  Mojtaba Ahmadieh Khanesar,et al.  Learning Control of Fixed-Wing Unmanned Aerial Vehicles Using Fuzzy Neural Networks , 2017 .

[11]  Mahmut Reyhanoglu,et al.  Dynamics of multibody vehicles and their formulation as nonlinear control systems , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[12]  Darren M. Dawson,et al.  Adaptive tracking control of an underactuated aerial vehicle , 2011, Proceedings of the 2011 American Control Conference.

[13]  M. Reyhanoglu,et al.  Maneuvering control problems for a spacecraft with unactuated fuel slosh dynamics , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[14]  Dule Shu,et al.  Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model , 2009, 2009 IEEE International Conference on Systems, Man and Cybernetics.

[15]  Miguel A. Olivares-Méndez,et al.  Adaptive control of Aerial Manipulation Vehicle , 2014, 2014 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2014).

[16]  Hui Tang,et al.  Nonlinear control of fixed-wing UAVs in presence of stochastic winds , 2016, Commun. Nonlinear Sci. Numer. Simul..

[17]  Hui Tang,et al.  Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar , 2014 .

[18]  Alejandro Dzul,et al.  Linear and Nonlinear Controllers Applied to Fixed-Wing UAV , 2013 .

[19]  Aníbal Ollero,et al.  Control of a multirotor outdoor aerial manipulator , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Matko Orsag,et al.  Stability control in aerial manipulation , 2013, 2013 American Control Conference.

[21]  Mahmut Reyhanoglu,et al.  Observer-based sliding mode control of a 3-DOF hover system , 2016, 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV).

[22]  Mahmut Reyhanoglu,et al.  Discontinuous Feedback Control of a Special Class of Underactuated Mechanical Systems , 2000 .

[23]  N.H. McClamroch,et al.  Nonlinear control of a class of underactuated systems , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[24]  José Ángel Acosta,et al.  Control of the longitudinal flight dynamics of an UAV using adaptive backstepping , 2011 .

[25]  Arjan van der Schaft,et al.  Dynamics and control of a class of underactuated mechanical systems , 1999, IEEE Trans. Autom. Control..

[26]  Mahmut Reyhanoglu,et al.  Automatic landing control of Unmanned Aerial Vehicles on moving platforms , 2014, 2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE).

[27]  João Yoshiyuki Ishihara,et al.  Disturbance rejection in a fixed wing UAV using nonlinear H∞ state feedback , 2011, 2011 9th IEEE International Conference on Control and Automation (ICCA).

[28]  Steven Lake Waslander,et al.  Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering , 2009, 2009 IEEE International Conference on Robotics and Automation.

[29]  V. Haimo.  Finite time controllers , 1986 .

[30]  Nicolas Marchand,et al.  Nonlinear control of a nano-hexacopter carrying a manipulator arm , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[31]  Marin Kobilarov.  Nonlinear Trajectory Control of Multi-body Aerial Manipulators , 2014, J. Intell. Robotic Syst..

[32]  Warren E. Dixon,et al.  Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle , 2010, IEEE Transactions on Control Systems Technology.

[33]  Xi Chen,et al.  Cascaded model predictive control of a quadrotor UAV , 2013, 2013 Australian Control Conference.

[34]  L. Meirovitch,et al.  State Equations for a Spacecraft With Maneuvering Flexible Appendages in Terms of Quasi-Coordinates , 1989 .

[35]  Wen-Hua Chen,et al.  Path‐following control for small fixed‐wing unmanned aerial vehicles under wind disturbances , 2012 .