Publications
Detailed Information
Model Predictive Control for an Aerial Manipulator Opening a Hinged Door
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Dongjae | - |
dc.contributor.author | Jang, Dohyun | - |
dc.contributor.author | Seo, Hoseong | - |
dc.contributor.author | Kim, H. Jin | - |
dc.date.accessioned | 2022-11-11T08:07:26Z | - |
dc.date.available | 2022-11-11T08:07:26Z | - |
dc.date.created | 2022-10-19 | - |
dc.date.issued | 2019-10 | - |
dc.identifier.citation | 2019 19TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2019), pp.986-991 | - |
dc.identifier.issn | 2093-7121 | - |
dc.identifier.uri | https://hdl.handle.net/10371/187067 | - |
dc.description.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. | - |
dc.language | 영어 | - |
dc.publisher | IEEE | - |
dc.title | Model Predictive Control for an Aerial Manipulator Opening a Hinged Door | - |
dc.type | Article | - |
dc.identifier.doi | 10.23919/ICCAS47443.2019.8971725 | - |
dc.citation.journaltitle | 2019 19TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2019) | - |
dc.identifier.wosid | 000555707100139 | - |
dc.identifier.scopusid | 2-s2.0-85079087818 | - |
dc.citation.endpage | 991 | - |
dc.citation.startpage | 986 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | Kim, H. Jin | - |
dc.type.docType | Proceedings Paper | - |
dc.description.journalClass | 1 | - |
- Appears in Collections:
- Files in This Item:
- There are no files associated with this item.
Item View & Download Count
Items in S-Space are protected by copyright, with all rights reserved, unless otherwise indicated.