Robust Adaptive Feedback Linearization Controller for an Aerial Robot Working in Narrow Corridor and In-door Environments

Sumathy, V and Ghose, D (2021) Robust Adaptive Feedback Linearization Controller for an Aerial Robot Working in Narrow Corridor and In-door Environments. In: 2021 International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation, IRIA 2021, 20-22 Sep 2021, Goa, pp. 419-425.

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Abstract

A Feedback linearization controller-based robust adaptive controller is designed for an aerial robot working in a cluttered environment in this paper. Aerial robots are robots with floating bases that can reach difficult to get to locations, and the manipulator can perform various tasks. While operating in in-door environments and in narrow corridors, these systems will be affected by external disturbances which can bring the system close to walls or other objects in the environment. Moreover, the internal unmodeled system non-linearities adds further challenge to the design requiring the controller to be robust. In this work, a robust adaptive augmented torque control law is proposed and implemented on an aerial robot consisting of a quadcopter and a three degree of freedom manipulator. The feedback linearization controller can cancel the non-linearities present in the plant model and yield error dynamics. A model reference adaptive controller is incorporated to estimate the unknown, uncertain system parameters for the feedback linearization controller. The robust update law for the adaptive mechanism is obtained using the SPR-Lyapunov method and modified using the Γ projection operator augments robustness to the controller. The proposed controller is implemented on the unified dynamics of the quadcopter manipulator system in MATLAB and ROS/Gazebo platforms to validate the design. In ROS/Gazebo, the aerial robot is simulated using an iris drone with a three degree of freedom arm and an indoor space consisting of two rooms connected by a corridor and filled with objects. The obtained performance results in ROS/Gazebo show the proposed controller's efficacy. © 2021 IEEE.

Item Type:	Conference Paper
Publication:	2021 International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation, IRIA 2021
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Antennas; Controllers; Degrees of freedom (mechanics); Feedback linearization; Lyapunov methods; Model reference adaptive control; Robots; Uncertainty analysis, Adaptive feedback linearization; Aerial robots; Cluttered environments; External disturbances; Feedback linearization controllers; Floating-base; Robots working; Robust adaptive; Robust adaptive controller; Three degree of freedoms, Manipulators
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	03 Dec 2021 08:48
Last Modified:	03 Dec 2021 08:48
URI:	http://eprints.iisc.ac.in/id/eprint/70626

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