Redundancy-Driven Multi-Task Adaptive Backstepping Tracking Control for Aerial Manipulators

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...

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Bibliographic Details
Main Authors: Kai-Yuan Liu, Te-Kang Hung, Chi-Hung Lin, Yen-Chen Liu
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Autonomous aerial vehicles
manipulator dynamics
aerial manipulator
unmanned aerial vehicle
adaptive control
null space
Online Access:https://ieeexplore.ieee.org/document/10485401/

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