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International Journal of Automation and Computing 2018, Vol. 15 Issue (5) :547-558    DOI: 10.1007/s11633-018-1145-8
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Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings
J. Alvarez-Munoz1, N. Marchand2, J. F. Guerrero-Castellanos3, J. J. Tellez-Guzman2, J. Escareno4, M. Rakotondrabe5
1. Polytechnic Institute of Advanced Sciences, FR 94200 Paris, France;
2. Univ. Grenoble Alpes, GIPSA-Lab, FR-38000 Grenoble, France;
3. Autonomous University of Puebla (BUAP), Faculty of Electronics, MX 72570 Puebla, Mexico;
4. University of Limoges ENSIL - ENSCI, XLIM Laboratory UMR CNRS 7252, Parc Ester Technopole, 16 rue Atlantis, Limoges 87068, France;
5. FEMTO-ST Institute, UMR CNRS-UFC/ENSMM/UTBM, Automatic Control and Micro-Mechatronic Department, FR Besançon, France
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Abstract This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF (degrees of freedom) manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems: the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control (nonlinear) design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.
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KeywordsObserver-based control   quaternion and Newton-Euler modeling   bounded-input control   aerial manipulator   disturbance rejection     
Received: 2018-02-16; published: 2018-06-29

This work was supported by CONACYT-Mexico, LabEx PERSYVAL-Lab (No. ANR-11-LABX-0025) and Equipex ROBOTEX (No. ANR-10-EQPX-44-01).

Corresponding Authors: J. Alvarez-Munoz     Email: jonatan.alvarez@ipsa.fr
About author: J. Alvarez-Munoz. E-mail:jonatan.alvarez@ipsa.fr (Corresponding author)ORCID iD:0000-0003-1038-6800;N. Marchand. E-mail:Nicolas.Marchand@gipsa-lab.fr;J. F. Guerrero-Castellanos. E-mail:fermi.guerrero@correo.buap.mx;J. J. Tellez-Guzman. E-mail:jose-juan.tellez-guzman@gipsa-lab.grenoble-inp.fr;J. Escareno. E-mail:juan-antonio.escareno@ipsa.fr;M. Rakotondrabe. E-mail:mrakoton@femto-st.fr
Cite this article:   
J. Alvarez-Munoz, N. Marchand, J. F. Guerrero-Castellanos, J. J. Tellez-Guzman, J. Escareno, M. Rakotondrabe. Rotorcraft with a 3DOF Rigid Manipulator: Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings[J]. International Journal of Automation and Computing , vol. 15, no. 5, pp. 547-558, 2018.
http://www.ijac.net/EN/10.1007/s11633-018-1145-8      或     http://www.ijac.net/EN/Y2018/V15/I5/547
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