Dynamics and Control of a Novel Manipulator on VTOL Aircraft System - a Planar Case Study

ORCiD

Dongbin Lee: 0000-0002-5307-0374

Document Type

Conference Proceeding

Department

Electrical and Computer Engineering

Conference Title

2014 American Control Conference

Location

Portland, OR

Conference Dates

June 4-6, 2014

Date of Presentation

6-1-2014

Abstract

An innovative type of mobile manipulator, designated Manipulator on VTOL (Vertical Take-Off and Landing) Aircraft (MOVA), is proposed as a potential candidate for autonomous execution of field work in less-structured environments. A planar MOVA system design is presented as the first step toward a fully functioning 3D system. The design has the minimum number of joints for the end-effector to achieve trajectory tracking. Dynamics equations of this planar MOVA system are derived using the Euler-Lagrangian approach and then transformed into decoupled translational and rotational dynamics using the virtual manipulator method. The backstepping technique is adopted for controller design due to the underactuated translational dynamics and a feedback linearization controller is used to control the onboard manipulator dynamics. A stability analysis is performed on the unified controller with GUUB tracking performance proven.

Publisher

IEEE

ISBN

978-1-4799-3274-0

ISSN

0743-1619

DOI

10.1109/ACC.2014.6858925

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