Abstract
Multirotors with manipulator arms are multibody systems whose mass characteristics (position of center of mass and moments of inertia) change with time when the arms move and bear reaction torques generated by the arm servos. This chapter presents a control system for aerial manipulators based on integral backstepping that estimates all these effects to effectively stabilize the rotational dynamics of the aerial robot. Validation experiments are also presented in the chapter.
Cite
CITATION STYLE
Jimenez-Cano, A., Heredia, G., & Ollero, A. (2019). Centralized Control of Multirotors with Manipulators. In Springer Tracts in Advanced Robotics (Vol. 129, pp. 119–126). Springer Verlag. https://doi.org/10.1007/978-3-030-12945-3_8
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