6D Pose Task Trajectory Tracking for a Class of 3D Aerial Manipulator From Differential Flatness

descriptionPublicationkeyboard_double_arrow_right Article 01 Jan 2019 Italy Publisher:Institute of Electrical and Electronics Engineers (IEEE)Journal:IEEE Access, volume 7, pages 52,257-52,265 (eissn: 2169-3536,

Copyright policy )Funded by:EC | HYFLIERS

Authors: Yushu Yu; Vincenzo Lippiello;

doi: 10.1109/access.2019.2910379

handle: 11588/767141

6D Pose Task Trajectory Tracking for a Class of 3D Aerial Manipulator From Differential Flatness

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Abstract

In this paper, the dynamics and control of a novel class of aerial manipulator for the purpose of end effector full pose trajectory tracking are investigated. The 6D pose of the end effector is set as a part of the flat output, from which the conditions that the system has the proposed flat output is obtained. The control law for the end effector tracking purpose is designed. The core part of the controller is an almost global controller in the configuration space of the system. From the transformation between the state space and the output space, the tracking control of the end effector in SE(3) is also achieved. The stability of the controlled system is analyzed. A numerical example is presented to demonstrate the theoretical analysis.

Country

Italy

Related Organizations

Chalmers University of Technology
Sweden
Beijing Institute of Technology
China (People's Republic of)
University Federico II of Naples
Italy

Keywords

task space, Aerial robotics, Aerial manipulator, tracking control, Electrical engineering. Electronics. Nuclear engineering, Aerial manipulator; differential flatness; task space; tracking control, differential flatness, TK1-9971

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