Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems
نویسندگان
چکیده
Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a robot (CR) into an aerial vehicle to address few issues of conventional such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling ACMSs, their coupled still remains intact. Nonlinearity complexity CR make it difficult design ACMS model suitable for practical applications. This paper presents ACMSs based Euler–Lagrange formulation deal unified system. For this purpose, general vertical take-off landing equipped tendon-driven arm is considered increase dexterity compliance interactions environment. The presented independent motor’s configuration tilt angles can be applied any under/fully actuated ACMS. approach complemented Lyapunov-wise stable adaptive sliding mode control technique demonstrate validity proposed method complex Simulation results in free flight motion scenarios are reported verify effectiveness techniques.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2021
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app11199108