A Stabilizing Controller for Regulation of UAV with Manipulator

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Stability is not trivial in aerial manipulation tasks because of the dynamical coupling between the aerial vehicle and the manipulator. This is especially true when the manipulator becomes heavy, so that its dynamics can be significant. In this letter, a stabilizing controller for the regulation of overall system will be designed without using any assumptions on the dynamic model. In addition, thorough discussion with simulation validation is presented.
Publisher
Institute of Electrical and Electronics Engineers Inc.
Issue Date
2018-07
Language
English
Article Type
Article
Citation

IEEE Robotics and Automation Letters, v.3, no.3, pp.1719 - 1726

ISSN
2377-3766
DOI
10.1109/LRA.2018.2803205
URI
http://hdl.handle.net/10203/275893
Appears in Collection
EE-Journal Papers(저널논문)
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