Null-Space Based Control Applied to a Formation of Aerial Manipulators in Congested Environment

Oscar Camacho, Paulo Leica, Jefferson Antamba, Johana Quinonez

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

The present work shows a control strategy based on null-space for monitoring the trajectory of a training of aerial manipulators in congested environments. By means of the null-space control, several control objectives can be achieved, assigning a priority to each of the objectives. The strategy proposes the control of a homogeneous formation of three aerial manipulators for the tasks of trajectory tracking and the evasion of obstacles. The aerial manipulator is composed of a quadcopter and a robotic arm of three degrees of freedom. Obstacle avoidance uses the definition of a fictional potential field. The stability of the proposed controls is verified according to the Lyapunov criteria and the results obtained from simulation show the good performance of the proposed controller.

Original languageEnglish
Title of host publicationProceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages244-250
Number of pages7
ISBN (Electronic)9781728155814
DOIs
StatePublished - Nov 2019
Externally publishedYes
Event4th International Conference on Information Systems and Computer Science, INCISCOS 2019 - Quito, Pichincha, Ecuador
Duration: 20 Nov 201922 Nov 2019

Publication series

NameProceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019

Conference

Conference4th International Conference on Information Systems and Computer Science, INCISCOS 2019
Country/TerritoryEcuador
CityQuito, Pichincha
Period20/11/1922/11/19

Keywords

  • Aerial manipulator
  • null-space
  • obstacle avoidance
  • robot formation

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