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Projection operator-based robust adaptive control of an aerial robot with a manipulator

Sumathy, V and Abdul, SAM and Ghose, D (2023) Projection operator-based robust adaptive control of an aerial robot with a manipulator. In: Journal of Field Robotics .

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Official URL: https://doi.org/10.1002/rob.22168


This paper describes a quadcopter manipulator system, an aerial robot with an extended workspace, its controller design, and experimental validation. The aerial robot is based on a quadcopter with a three degree of freedom robotic arm connected to the base of the vehicle. The work aims to create a stable airborne robot with a robotic arm that can work above and below the airframe, regardless of where the arm is attached. Integrating a robotic arm into an underactuated, unstable system like a quadcopter can enhance the vehicle's functionality while increasing instability. To execute a mission with accuracy and reliability during a real-time task, the system must overcome the inter-coupling effects and external disturbances. This work presents a novel design for a robust adaptive feedback linearization controller with a model reference adaptive controller and hardware implementation of the quadcopter manipulator system with plant uncertainties. The closed-loop stability of the aerial robot and the tracking error convergence with the robust controller is analyzed using Lyapunov stability analysis. The quadcopter manipulator system is custom developed in the lab with an off-the-shelf quadcopter and a 3D-printed robotic arm. The robotic system architecture is implemented using a Jetson Nano companion computer for autonomous onboard flight. Experiments were conducted on quadcopter manipulator system to evaluate the autonomous aerial robot's stability and trajectory tracking with the proposed controller. © 2023 Wiley Periodicals LLC.

Item Type: Journal Article
Publication: Journal of Field Robotics
Publisher: John Wiley and Sons Inc
Additional Information: The copyright for this article belongs to John Wiley and Sons Inc.
Keywords: 3D printing; Antennas; Controllers; Degrees of freedom (mechanics); Feedback linearization; Machine design; Manipulators; Model reference adaptive control; Robot applications; Robotic arms, Adaptive feedback linearization; Aerial robots; Feedback linearization controllers; Field experiment; Hardware system; Lyapunov's methods; Manipulator systems; Projection Operator; Quadcopter manipulator system; Robust adaptive; Robust adaptive feedback linearization controller; SPR�lyapunov method, Lyapunov methods
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 18 Apr 2023 10:26
Last Modified: 18 Apr 2023 10:26
URI: https://eprints.iisc.ac.in/id/eprint/81338

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