Non-holonomic flight modeling and control of a tilt-rotor MAV Conference Paper

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Overview

abstract

• The main goal of this paper is to introduce a new non-holonomic model and control of a tilt-rotor aerial robot for interactive operations via a 1DOF robotic manipulator. The modeling is derived by means of the Euler-Lagrange formulation, providing couplings between the robotic manipulator and the rotorcraft. The aerial robot is fully actuated and features thrust vector control, having a more flexible aerial profile. In terms of control, the Immersion and Invariance (II) control technique is applied in order to achieve the control objective (trajectory tracking). Finally, preliminary simulation results were conducted to evaluate and validate the control strategy for an interactive tilt-rotor micro aerial vehicle (MAV). © 2019 IEEE.

authors

• Escareno J.
• Méndez Azua Héctor
• Méndez Barrios César Fernando Francisco
• Nieto-Hernández D.
• Ramirez-Rivera V.M.
• Torres L.A.

publication date

• 2019-01-01

funding provided via

• 2015-01-786  Grant

published in

• 2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019  Proceedings

Research

keywords

• Antennas; Flexible manipulators; Micro air vehicle (MAV); Robotics; Control strategies; Immersion and invariances; Interactive operations; Micro aerial vehicle; Modeling and control; Robotic manipulators; Thrust vector control; Trajectory tracking; Aircraft control

Identity

Digital Object Identifier (DOI)

• 10.1109/CoDIT.2019.8820353

Additional Document Info

start page

• 1947

end page

• 1952