Trajectory Control of a Class of Articulated Aerial Robots

被引：0
|
作者：
Kobilarov, Marin [1 ]
机构：
[1] Johns Hopkins Univ, Lab Computat Sensing & Robot, Baltimore, MD 21218 USA
来源：
2013 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS) | 2013年
关键词：
TRACKING CONTROL DESIGN; QUADROTOR; HELICOPTER; DYNAMICS; UAV;
D O I：
暂无
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
This paper studies trajectory control of aerial vehicles equipped with robotic manipulators. The proposed approach employs free-flying multi-body dynamics modeling and backstepping control to develop stabilizing control laws for a general class of underactuated aerial systems. A simulated hexrotor vehicle with a simple manipulator is employed to demonstrate the proposed techniques.
引用
收藏
页码：958 / 965
页数：8
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