RISE-based trajectory tracking control of an aerial manipulator under uncertainty
This letter presents a robust integral of the sign of the error (RISE)-based controller for an
aerial manipulator consisting of a multi-rotor and a robotic arm which guarantees tracking …
aerial manipulator consisting of a multi-rotor and a robotic arm which guarantees tracking …
Stable contact guaranteeing motion/force control for an aerial manipulator on an arbitrarily tilted surface
This study aims to design a motion/force controller for an aerial manipulator which
guarantees the tracking of time-varying motion/force trajectories as well as the stability …
guarantees the tracking of time-varying motion/force trajectories as well as the stability …
Minimally actuated tiltrotor for perching and normal force exertion
This study presents a new hardware design and control of a minimally actuated 5 control
degrees of freedom (CDoF) quadrotor-based tiltrotor. The proposed tiltrotor possesses …
degrees of freedom (CDoF) quadrotor-based tiltrotor. The proposed tiltrotor possesses …
Globally defined dynamic modelling and geometric tracking controller design for aerial manipulator
This study presents a globally defined dynamics for a conventional multirotor equipped with
a single n-DOF manipulator using modified Lagrangian dynamics. This enables the …
a single n-DOF manipulator using modified Lagrangian dynamics. This enables the …
A hybrid controller enhancing transient performance for an aerial manipulator extracting a wedged object
Autonomous aerial manipulation requires the capability to handle inevitable dynamic
changes during physical interaction. Previously, very few studies have addressed the …
changes during physical interaction. Previously, very few studies have addressed the …
Autonomous Heavy Object Pushing Using a Coaxial Tiltrotor
Aerial physical interaction (APhI) with a multirotor-based platform such as pushing a heavy
object demands generation of a sufficiently large interaction force while maintaining the …
object demands generation of a sufficiently large interaction force while maintaining the …
Redundant Observer-Based Tracking Control for Object Extraction Using a Cable Connected UAV
BJ Marshall, Y Yan, J Knowles, C Yang… - ar** a fixed point is on the rise to broaden
the range of tasks that can be performed with flying robots such as plug-pulling or drawer …
the range of tasks that can be performed with flying robots such as plug-pulling or drawer …