文章基本信息

标题：Dynamic Modeling and Trajectory Tracking Controller of a Novel Flying Parallel Robot
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作者：Damien Six ; Abdelhamid Chriette ; Sébastien Briot 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：2241-2246
DOI：10.1016/j.ifacol.2017.08.183
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a new flying robot, composed of two quadrotors linked by a rigid articulated passive chain. The robot obtained is similar to a parallel robot where the classic actuators have been replaced by flying drones. With its rigid structure presenting an internal degree of freedom, the robot presented is a step forward in flying robotics and presents new challenges for the design of its feedback control. In this paper the dynamic modelling of the robot is analyzed. From this analysis, a decoupling property is extracted leading to a cascaded controller based on feedback linearization. An application to trajectory tracking is developed. The effectiveness and robustness against noise in pose estimation of the proposed controller is verified through a realistic simulation.
关键词：KeywordsFlying robotsNonlinear ControlFeedback linearizationDynamicsParallel robots