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

Oscar Camacho, Paulo Leica, Jefferson Antamba, Johana Quinonez

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

3 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas244-250
Número de páginas7
ISBN (versión digital)9781728155814
DOI
EstadoPublicada - nov. 2019
Publicado de forma externa
Evento4th International Conference on Information Systems and Computer Science, INCISCOS 2019 - Quito, Pichincha, Ecuador
Duración: 20 nov. 201922 nov. 2019

Serie de la publicación

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

Conferencia

Conferencia4th International Conference on Information Systems and Computer Science, INCISCOS 2019
País/TerritorioEcuador
CiudadQuito, Pichincha
Período20/11/1922/11/19

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