一类铰接式空中机器人的轨迹控制

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI:10.1109/ICUAS.2013.6564782

Marin Kobilarov

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引用次数: 7

摘要

本文研究了搭载机器人的飞行器的轨迹控制问题。该方法采用自由飞行多体动力学建模和反演控制方法，建立了一类欠驱动航空系统的稳定控制律。以一个带有简单机械臂的模拟六旋翼飞行器为例，对所提出的技术进行了验证。

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Trajectory control of a class of articulated aerial robots

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.

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来源期刊

2013 International Conference on Unmanned Aircraft Systems (ICUAS)

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