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Position Inverse Kinematics and Robust Internal-loop Compensator-based Control of a New Quadrotor Manipulation System

Ahmed Khalifa, Mohamed Fanni


In this paper, the design and the position inverse kinematics analysis of a novel aerial manipulation system are presented. The proposed system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation system. New inverse kinematic analysis are derived such that quadrotor/joint space controller can be designed to track the required task space mission. To study the feasibility of the proposed system, a quadrotor with high enough payload to add the 2-link manipulator is designed and constructed. Experimental setup of the system is introduced and the design is verified experimentally. An experiment
is carried out to estimate the rotors parameters. These parameters are used in the simulation and controller design of the proposed system in order to make more realistic setup. System dynamics are derived briefly based on Newton Euler Method. The controller of the proposed system is designed based on Robust Internal-loop Compensator (RIC) and compared to Fuzzy Model Reference Learning Control (FMRLC) technique which was previously designed and tested for the proposed system. These controllers are tested for provide system stability and trajectory tracking under the effect of picking as well as placing a payload and under the effect of changing the operating region. Simulation framework is implemented in MATLAB/SIMULINK environment with the real parameters. The simulation results indicate the feasibility and the efficiency the proposed inverse kinematic analysis
and the proposed RIC-based control technique.


Aerial Manipulation, Identification, Position Kinematic Analysis, Demining, Inspection, Transportation, Robust Internal-loop Compensator.

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