Adaptive output control of a mobile manipulator hanging from a quadcopter unmanned vehicle

Mariana Felisa Ballesteros-Escamilla, David Cruz-Ortiz, Isaac Chairez, Alberto Luviano-Juárez

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This article summarizes the comprehensive design of an adaptive control that solves the trajectory tracking of a four-rotor unmanned aerial vehicle supplied by an own-designed grasping device. The controller design uses the regular proportional–derivative (PD)structure which is common to solve regulation, as well as tracking problems for robotic systems. The PD structure needs the estimation of the time-derivative to be exerted on-line. The super-twisting algorithm served to operate as a decentralized estimator of the derivatives for the tracking errors. The controller gains were adjusted by the differential laws aimed to track attainable reference trajectories. The adaptive strategy adjusts the controller gains enforcing the convergence of both the estimation and the tracking errors. A numerical example showed the observer/controller performance. A comparison with a classic non-adaptive PD controller confirms the effectiveness on the tracking task by the proposed design. In addition, a set of virtual numerical evaluations using the parameters of a real quadcopter system confirmed the performance benefits of the adaptive controller based on the PD structure aided with the estimation of the velocity obtained by the observer.

Original languageEnglish
JournalISA Transactions
DOIs
StateAccepted/In press - 1 Jan 2019

Fingerprint

Mobile Manipulator
Unmanned Vehicles
Unmanned vehicles
Manipulators
manipulators
controllers
vehicles
Controller
Controllers
output
Output
Observer
Derivative
Trajectories
trajectories
Adaptive Strategies
Grasping
tracking problem
Trajectory Tracking
Derivatives

Keywords

  • Adaptive controller
  • Grasping device
  • proportional–derivative controller
  • Quadcopter
  • Super-twisting algorithm

Cite this

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title = "Adaptive output control of a mobile manipulator hanging from a quadcopter unmanned vehicle",
abstract = "This article summarizes the comprehensive design of an adaptive control that solves the trajectory tracking of a four-rotor unmanned aerial vehicle supplied by an own-designed grasping device. The controller design uses the regular proportional–derivative (PD)structure which is common to solve regulation, as well as tracking problems for robotic systems. The PD structure needs the estimation of the time-derivative to be exerted on-line. The super-twisting algorithm served to operate as a decentralized estimator of the derivatives for the tracking errors. The controller gains were adjusted by the differential laws aimed to track attainable reference trajectories. The adaptive strategy adjusts the controller gains enforcing the convergence of both the estimation and the tracking errors. A numerical example showed the observer/controller performance. A comparison with a classic non-adaptive PD controller confirms the effectiveness on the tracking task by the proposed design. In addition, a set of virtual numerical evaluations using the parameters of a real quadcopter system confirmed the performance benefits of the adaptive controller based on the PD structure aided with the estimation of the velocity obtained by the observer.",
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Adaptive output control of a mobile manipulator hanging from a quadcopter unmanned vehicle. / Ballesteros-Escamilla, Mariana Felisa; Cruz-Ortiz, David; Chairez, Isaac; Luviano-Juárez, Alberto.

In: ISA Transactions, 01.01.2019.

Research output: Contribution to journalArticle

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