Control of an Omnidirectional UAV for Transportation and Manipulation Tasks

This paper presents a motion control scheme for a new concept of omnidirectional aerial vehicle for transportation and manipulation tasks. The considered aerial platform is a novel quadrotor with the capability of providing multi-directional thrust by adding an actuated gimbal mechanism in charge of...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Michelangelo Nigro, Francesco Pierri, Fabrizio Caccavale
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	unmanned aerial vehicles model-based control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/37a52a97d8744819b961455948706a54
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:37a52a97d8744819b961455948706a54
record_format	dspace
spelling	oai:doaj.org-article:37a52a97d8744819b961455948706a542021-11-25T16:42:37ZControl of an Omnidirectional UAV for Transportation and Manipulation Tasks10.3390/app1122109912076-3417https://doaj.org/article/37a52a97d8744819b961455948706a542021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10991https://doaj.org/toc/2076-3417This paper presents a motion control scheme for a new concept of omnidirectional aerial vehicle for transportation and manipulation tasks. The considered aerial platform is a novel quadrotor with the capability of providing multi-directional thrust by adding an actuated gimbal mechanism in charge of modifying the orientation of the frame on which the four rotors are mounted. The above mechanical design, differently from other omnidirectional unmanned aerial vehicles (UAVs) with tilted propellers, avoids internal forces and energy dissipation due to non-parallel propellers’ axes. The proposed motion controller is based on a hierarchical two-loop scheme. The external loop computes the force to be applied to the vehicle and the reference values for the additional joints, while the inner loop computes the joint torques and the moment to be applied to the multirotor. In order to make the system robust with respect to the external loads, a compensation of contact forces is introduced by exploiting the estimate provided by a momentum based observer. The stability of the motion control scheme is proven via Lyapunov arguments. Finally, two simulation case studies prove the capability of the omnidirectional UAV platform to track a 6-DoFs trajectory both in free motion and during a task involving grasping and transportation of an unknown object.Michelangelo NigroFrancesco PierriFabrizio CaccavaleMDPI AGarticleunmanned aerial vehiclesmodel-based controlTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10991, p 10991 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	unmanned aerial vehicles model-based control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	unmanned aerial vehicles model-based control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Michelangelo Nigro Francesco Pierri Fabrizio Caccavale Control of an Omnidirectional UAV for Transportation and Manipulation Tasks
description	This paper presents a motion control scheme for a new concept of omnidirectional aerial vehicle for transportation and manipulation tasks. The considered aerial platform is a novel quadrotor with the capability of providing multi-directional thrust by adding an actuated gimbal mechanism in charge of modifying the orientation of the frame on which the four rotors are mounted. The above mechanical design, differently from other omnidirectional unmanned aerial vehicles (UAVs) with tilted propellers, avoids internal forces and energy dissipation due to non-parallel propellers’ axes. The proposed motion controller is based on a hierarchical two-loop scheme. The external loop computes the force to be applied to the vehicle and the reference values for the additional joints, while the inner loop computes the joint torques and the moment to be applied to the multirotor. In order to make the system robust with respect to the external loads, a compensation of contact forces is introduced by exploiting the estimate provided by a momentum based observer. The stability of the motion control scheme is proven via Lyapunov arguments. Finally, two simulation case studies prove the capability of the omnidirectional UAV platform to track a 6-DoFs trajectory both in free motion and during a task involving grasping and transportation of an unknown object.
format	article
author	Michelangelo Nigro Francesco Pierri Fabrizio Caccavale
author_facet	Michelangelo Nigro Francesco Pierri Fabrizio Caccavale
author_sort	Michelangelo Nigro
title	Control of an Omnidirectional UAV for Transportation and Manipulation Tasks
title_short	Control of an Omnidirectional UAV for Transportation and Manipulation Tasks
title_full	Control of an Omnidirectional UAV for Transportation and Manipulation Tasks
title_fullStr	Control of an Omnidirectional UAV for Transportation and Manipulation Tasks
title_full_unstemmed	Control of an Omnidirectional UAV for Transportation and Manipulation Tasks
title_sort	control of an omnidirectional uav for transportation and manipulation tasks
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/37a52a97d8744819b961455948706a54
work_keys_str_mv	AT michelangelonigro controlofanomnidirectionaluavfortransportationandmanipulationtasks AT francescopierri controlofanomnidirectionaluavfortransportationandmanipulationtasks AT fabriziocaccavale controlofanomnidirectionaluavfortransportationandmanipulationtasks
_version_	1718413012570734592

Control of an Omnidirectional UAV for Transportation and Manipulation Tasks

Ejemplares similares