Centralized Control of Helicopters with Manipulators
This chapter is devoted to the control of helicopters equipped with manipulators. A robust \(H_{\infty }\) control system of the helicopter altitude is presented. Also the manipulator control is described. Next the coordinated control for the helicopter a
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Abstract This chapter is devoted to the control of helicopters equipped with manipulators. A robust H∞ control system of the helicopter altitude is presented. Also the manipulator control is described. Next the coordinated control for the helicopter and manipulator is presented including vision-based object tracking and physical interaction with the environment. Finally experiments in grasping and transportation are presented.
1 Introduction This chapter presents a distributed control architecture for the helicopter based aerial manipulation system presented in Chapter “ Helicopter based manipulators”. The presence of the added moving mass causes several problems to the stability of the aerial vehicle during free flight and hovering operations. Moreover, the same coupling dynamic effects are felt by the manipulator due to the movements of the floating platform. In order to overcome these undesired effects, the analysis performed at Chapter “ Helicopter based manipulators” in respect of the interaction and coupling between helicopter and manipulator is taken into consideration. In the resultant control strategy, the arm should restrict its motions to keep its center of gravity in the vertical plane of the vehicle and this is only feasible with a redundant robot arm. Furthermore, since the performance of the altitude control has M. Bejar (B) GRVC Robotics Lab Seville, Pablo de Olavide University, Seville, Spain e-mail: [email protected] A. Ollero GRVC Robotics Lab Sevilla, Universidad de Sevilla, Seville, Spain e-mail: [email protected] K. Kondak Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Munich, Germany e-mail: [email protected] © Springer Nature Switzerland AG 2019 A. Ollero and B. Siciliano (eds.), Aerial Robotic Manipulation, Springer Tracts in Advanced Robotics 129, https://doi.org/10.1007/978-3-030-12945-3_9
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proven to contribute significantly for the performance of an aerial manipulation task, an elaborate control approach for the altitude loop will be accounted for. Additionally, the use of computer vision can help to localize target position and hold the vehicle in hovering and in tasks where physical interaction with the environment is necessary. For instance, the tasks of grasping or assembling parts.
2 Helicopter Control This section describes aspects for helicopter control which are important for integrated systems composed of a helicopter and a manipulation device. The main mode for aerial manipulation is the hovering state of a helicopter. Therefore, a precise and robust position control for a helicopter is needed. In Sect. 2.1 a scheme for precise helicopter control with integrated vision system is presented. One of the most difficult problems for precise hovering near to the ground is the altitude control. Close to the ground, the main rotor generates air movements (ground effect) which are difficult to model and which could yield unpredictable helicopter movements with high amplitude. A robust H∞ altitude controller that addresses this proble
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