Command-Filtered Backstepping Redesign for Aerial Manipulators Under Aerodynamic and Operational Disturbances

The complexity of autonomous Aerial Manipulators (AMs), i.e. Unmanned Aerial Vehicle (UAV) + Robot Manipulator (RM), is growing faster as per our demand of being able to perform complex tasks. This complexity makes the control system to have to take into account somehow the RM dynamics, otherwise the overall behaviour of the system could be compromised. In this work, we thoroughly analyse the overall performance of the AM with a widespread controller designed neglecting the RM dynamics. In particular, the performances under the induced forces/torques provided by a compound interaction of movements of the RM (vibrations) and aerodynamical effects. For the case of study, we consider an UAV multicopter and a generic redundant RM. A complete analysis with realistic simulations on a benchmark is reported.

[1]  Zongyu Zuo,et al.  Trajectory tracking control design with command-filtered compensation for a quadrotor , 2010 .

[2]  A. Ollero,et al.  Relative-pose optimisation for robust and nonlinear control of unmanned aerial manipulators , 2017, 2017 International Conference on Unmanned Aircraft Systems (ICUAS).

[3]  A. Ollero,et al.  A robust decentralised strategy for multi-task control of unmanned aerial systems. Application on underactuated aerial manipulator , 2016, 2016 International Conference on Unmanned Aircraft Systems (ICUAS).

[4]  Zongyu Zuo,et al.  Adaptive trajectory tracking control design with command filtered compensation for a quadrotor , 2013 .

[5]  Aníbal Ollero,et al.  Control of an aerial robot with multi-link arm for assembly tasks , 2013, 2013 IEEE International Conference on Robotics and Automation.

[6]  Vijay Kumar,et al.  Cooperative manipulation and transportation with aerial robots , 2009, Auton. Robots.

[7]  Aníbal Ollero,et al.  Robust control of underactuated Aerial Manipulators via IDA-PBC , 2014, 53rd IEEE Conference on Decision and Control.

[8]  Marios M. Polycarpou,et al.  Command filtered backstepping , 2009, 2008 American Control Conference.

[9]  Matko Orsag,et al.  Flight stability in aerial redundant manipulators , 2012, 2012 IEEE International Conference on Robotics and Automation.

[10]  Aníbal Ollero,et al.  Integral action in first-order Closed-Loop Inverse Kinematics. Application to aerial manipulators , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).