Redundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial Manipulators
This paper presents a novel multi-tasking control scheme for an aerial manipulator consisting of an unmanned aerial vehicle (UAV) and a robotic arm as a high degree-of-freedom (DOF) system. The decoupled dynamic model is investigated under uncertainties to precisely control the motion of the UAV and...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10485401/ |
| _version_ | 1797221983655559168 |
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| author | Kai-Yuan Liu Te-Kang Hung Chi-Hung Lin Yen-Chen Liu |
| author_facet | Kai-Yuan Liu Te-Kang Hung Chi-Hung Lin Yen-Chen Liu |
| author_sort | Kai-Yuan Liu |
| collection | DOAJ |
| description | This paper presents a novel multi-tasking control scheme for an aerial manipulator consisting of an unmanned aerial vehicle (UAV) and a robotic arm as a high degree-of-freedom (DOF) system. The decoupled dynamic model is investigated under uncertainties to precisely control the motion of the UAV and the robotic arm. To reduce unnecessary motion of the end-effector, the null-space behavioral (NSB) strategy is utilized to perform subtasks. This feature provides a smoother trajectory for the transported object. The convergence is theoretically analyzed by utilizing Lyapunov stability. The proposed control scheme is validated with numerical simulations and experiments in several scenarios. To verify the efficacy of the proposed method, two types of subtasks, joint angle limitation (JAL) and obstacle avoidance (OA), are presented to demonstrate the effectiveness of multi-tasking. Finally, experimental results for collision avoidance are provided to verify that the system can be implemented in practice. With the device’s inherent noise, the root-mean-square error remains at approximately 5 cm for the UAV frame ZD850. |
| first_indexed | 2024-04-24T13:14:06Z |
| format | Article |
| id | doaj.art-8a9f70b3a241450c87086eb3bf641e1a |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-24T13:14:06Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-8a9f70b3a241450c87086eb3bf641e1a2024-04-04T23:00:32ZengIEEEIEEE Access2169-35362024-01-0112471344714510.1109/ACCESS.2024.338298310485401Redundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial ManipulatorsKai-Yuan Liu0Te-Kang Hung1Chi-Hung Lin2Yen-Chen Liu3https://orcid.org/0000-0003-2778-5859Department of Mechanical Engineering, National Cheng Kung University (NCKU), Tainan, TaiwanDepartment of Mechanical Engineering, National Cheng Kung University (NCKU), Tainan, TaiwanDepartment of Mechanical Engineering, National Cheng Kung University (NCKU), Tainan, TaiwanDepartment of Mechanical Engineering, National Cheng Kung University (NCKU), Tainan, TaiwanThis paper presents a novel multi-tasking control scheme for an aerial manipulator consisting of an unmanned aerial vehicle (UAV) and a robotic arm as a high degree-of-freedom (DOF) system. The decoupled dynamic model is investigated under uncertainties to precisely control the motion of the UAV and the robotic arm. To reduce unnecessary motion of the end-effector, the null-space behavioral (NSB) strategy is utilized to perform subtasks. This feature provides a smoother trajectory for the transported object. The convergence is theoretically analyzed by utilizing Lyapunov stability. The proposed control scheme is validated with numerical simulations and experiments in several scenarios. To verify the efficacy of the proposed method, two types of subtasks, joint angle limitation (JAL) and obstacle avoidance (OA), are presented to demonstrate the effectiveness of multi-tasking. Finally, experimental results for collision avoidance are provided to verify that the system can be implemented in practice. With the device’s inherent noise, the root-mean-square error remains at approximately 5 cm for the UAV frame ZD850.https://ieeexplore.ieee.org/document/10485401/Autonomous aerial vehiclesmanipulator dynamicsaerial manipulatorunmanned aerial vehicleadaptive controlnull space |
| spellingShingle | Kai-Yuan Liu Te-Kang Hung Chi-Hung Lin Yen-Chen Liu Redundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial Manipulators IEEE Access Autonomous aerial vehicles manipulator dynamics aerial manipulator unmanned aerial vehicle adaptive control null space |
| title | Redundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial Manipulators |
| title_full | Redundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial Manipulators |
| title_fullStr | Redundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial Manipulators |
| title_full_unstemmed | Redundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial Manipulators |
| title_short | Redundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial Manipulators |
| title_sort | redundancy driven multi task adaptive backstepping tracking control for aerial manipulators |
| topic | Autonomous aerial vehicles manipulator dynamics aerial manipulator unmanned aerial vehicle adaptive control null space |
| url | https://ieeexplore.ieee.org/document/10485401/ |
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