Non-linear control of aerial manipulator robots based on numerical methods

Abstract:

This work proposes a kinematic modelling and a non-linear kinematic controller for an autonomous aerial mobile manipulator robot that generates velocity commands for trajectory tracking problem. The kinematic modelling is considered using a hexarotor system and robotic arm. The stability and robustness of the entire control system are tested by this method. Finally, the experiment results are presented and discussed, and validate the proposed controller.

Año de publicación:

2020

Keywords:

• Aerial manipulator
• AMR
• CONTROL NO LINEAL

Fuente:

scopus