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Model Predictive Control for an Aerial Manipulator Opening a Hinged Door
Cited 7 time in
Web of Science
Cited 7 time in Scopus
- Authors
- Issue Date
- 2019-10
- Publisher
- IEEE
- Citation
- 2019 19TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2019), pp.986-991
- Abstract
- Aerial manipulation has been widely studied to be employed in various tasks such as exploration and transportation. To incorporate aerial manipulation into more sophisticated tasks like pulling or pushing a heavy cargo, an active interaction with surrounding structures should be considered. Unlike physical contact with a static structure which was mainly studied in previous papers, interaction with a movable structure requires a consideration of dynamics of the structure which makes the scenario more complex. In this paper, an aerial manipulator opening a hinged door is presented. Coupled dynamics between an aerial manipulator and a hinged door is derived, and a model predictive control (MPC) algorithm using iterative Linear Quadratic Regulator (iLQR) method for the derived dynamic equation is proposed. Through our proposed control strategy, sub-optimal state and input trajectories robust to model uncertainties while satisfying input constraints are generated. Our dynamic model and control algorithm are validated through simulations.
- ISSN
- 2093-7121
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