Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor

03/01/2020
by   Yuri S. Sarkisov, et al.
0

This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provide full information on the system state. To overcome this difficulty, we design a controller motivated by a simplified SAM model. The proposed controller is very simple yet robust to model uncertainties. Moreover, we propose a gain tuning rule by formulating the proposed controller in the form of output feedback linear quadratic regulation problem. Consequently, it is possible to quickly dampen oscillations with minimal energy consumption. The proposed approach is validated through simulations and experiments.

READ FULL TEXT

page 1

page 2

page 6

research
12/20/2018

Modeling and Robust Attitude Controller Design for a Small Size Helicopter

This paper addresses the design and application controller for a small-s...
research
08/09/2018

Passive Compliance Control of Aerial Manipulators

This paper presents a passive compliance control for aerial manipulators...
research
04/02/2019

Enhancement of Energy-Based Swing-Up Controller via Entropy Search

An energy based approach for stabilizing a mechanical system has offered...
research
01/30/2019

Robust Sensor Design Against Multiple Attackers with Misaligned Control Objectives

We introduce a robust sensor design framework to provide defense against...
research
05/10/2022

Robust Data-Driven Output Feedback Control via Bootstrapped Multiplicative Noise

We propose a robust data-driven output feedback control algorithm that e...
research
02/24/2020

Robust Learning-Based Control via Bootstrapped Multiplicative Noise

Despite decades of research and recent progress in adaptive control and ...
research
07/03/2019

Sensitivity of Legged Balance Control to Uncertainties and Sampling Period

We propose to quantify the effect of sensor and actuator uncertainties o...

Please sign up or login with your details

Forgot password? Click here to reset