Open AccessRedundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial ManipulatorsOpen AccessAuthor(s)
Kai-Yuan Liu,
Te-Kang Hung,
Chi-Hung Lin,
Yen-Chen Liu
Publication year2024
Publication title
ieee access
Resource typeMagazines
PublisherIEEE
This paper presents a novel multitasking control scheme for an aerial manipulator consisting of an unmanned aerial vehicle (UAV) and a robotic arm as a high degree-of-freedom (DOF) system. The decoupled dynamic model is investigated under uncertainties to precisely control the motion of the UAV and the robotic arm. To reduce unnecessary motion of the end-effector, the null-space behavioral (NSB) strategy is utilized to perform subtasks. This feature provides a smoother trajectory for the transported object. The convergence is theoretically analyzed by utilizing Lyapunov stability. The proposed control scheme is validated with numerical simulations and experiments in several scenarios. To verify the efficacy of the proposed method, two types of subtasks, joint angle limitation (JAL) and obstacle avoidance (OA), are presented to demonstrate the effectiveness of the control scheme. Finally, experimental results for collision avoidance are provided to verify that the system can be implemented in practice. With the device’s inherent noise, the root-mean-square error remains at approximately 5 cm for the UAV frame ZD850.
Subject(s)aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
Keyword(s)Manipulators, Manipulator dynamics, Autonomous aerial vehicles, Robot kinematics, Adaptation models, Computational modeling, Multitasking, Autonomous aerial vehicles, manipulator dynamics, aerial manipulator, unmanned aerial vehicle, adaptive control, null space, null-space-based behavioral control
Language(s)English
SCImago Journal Rank0.587
H-Index127
eISSN2169-3536
DOI10.1109/access.2024.3382983
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