ICRA 2011 Paper Abstract


Paper TuA201.3

Ding, Xilun (Beijing Univerisity of Aeronautics and Astronautics), Yu, Yushu (Beihang University), Zhu, J. Jim (Ohio University)

Trajectory Linearization Tracking Control for Dynamics of a Multi-Propeller and Multifunction Aerial Robot - MMAR

Scheduled for presentation during the Regular Sessions "Aerial Robotics II" (TuA201), Tuesday, May 10, 2011, 10:35−10:50, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Aerial Robotics, Direct/Inverse Dynamics Formulation, Motion Control of Manipulators


In this paper, a multi-propeller and multifunction aerial robot (MMAR) which can realize multifunction of flying, wall-climbing and arm-operating is presented. Four propellers are devoted to the attitude control of the robot, and two manipulators are designed for the wall-climbing and arm-operating. When the aerial robot works in wall-climbing and arm-operating, there are dynamics coupling between the manipulators and the main body. The dynamics of manipulators depends on the motion of the main body, and the motion of manipulators will have reaction force and torque applied on the main body. The dynamics modeling of the robot is investigated by using recursive method. Based on the model, the trajectory linearization control of the robot is proposed. The controller of the robot when it transitions between its flight mode and wall-climbing mode is then designed. The simulation verification of the controller is presented. The simulation results have verified the feasibility of the controller.



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