Full-Body Multi-Objective Controller for Aerial Manipulation

被引：0
|
作者：
Kamel, Mina [1 ]
Comari, Simone [1 ]
Siegwart, Roland [1 ]
机构：
[1] ETH, Autonomous Syst Lab, Leonhardstr 21, CH-8092 Zurich, Switzerland
来源：
2016 24TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2016年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we present an multi-objective dynamic controller for a micro-aerial vehicle (MAV) equipped with dextrous aerial manipulator. The MAV and the manipulator are considered as a multi-body system where the control input is generated for the MAV and the manipulator joints simultaneously, taking into account dynamic effects. The redundancy of the system is exploited by setting various desired tasks with associated priorities. The proposed controller is compared against classic control approach. Extensive simulation results are presented in Micro Aerial Vehicles Simulator "RotorS".
引用
收藏
页码：659 / 664
页数：6
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