کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
695241 1460654 2015 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Mechanics, control and internal dynamics of quadrotor tool operation
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Mechanics, control and internal dynamics of quadrotor tool operation
چکیده انگلیسی

We propose a novel control framework to enable a quadrotor to operate a tool attached on it. We first show that any Cartesian control at the tool-tip can be generated if and only if the tool-tip is located strictly above or below the quadrotor’s center-of-mass. We then fully characterize the internal dynamics of the spatial quadrotor tool operation, which arises due to the quadrotor’s under-actuation, and elucidate a seemingly counter-intuitive necessary condition for the internal stability, that is, the tool-tip should be located above the quadrotor’s center-of-mass. We further manifest that this internal dynamics can exhibit finite-time escape and propose a stabilizing action to prevent that. The theory is then illustrated for the problems of rotating tool operation and hybrid force/position control with relevant simulation results.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 61, November 2015, Pages 289–301
نویسندگان
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