Open Access Open Access  Restricted Access Subscription or Fee Access

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

Ahmed Khalifa, Mohamed Fanni

Abstract


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.

Keywords


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

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information. Also: DOI is paid service which provided by a third party. We never mentioned that we go for this for our any journal. However, journal have no objection if author go directly for this paid DOI service.