In this paper a novel hierarchical motion control scheme for quadrotor aerial vehicles equipped with a manipulator is proposed. The controller is organized into two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the top layer. A simulation case study is developed to demonstrate the effectiveness of the approach in the presence of disturbances and unmodeled dynamics. © 2013 IEEE.
CITATION STYLE
Arleo, G., Caccavale, F., Muscio, G., & Pierri, F. (2013). Control of quadrotor aerial vehicles equipped with a robotic arm. In 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings (pp. 1174–1180). https://doi.org/10.1109/MED.2013.6608869
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