dynamic stability and control of a manipulating unmanned aerial vehicle

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ID: 250450
2018
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Abstract
This paper focuses on the dynamic stability analysis of a manipulator mounted on a quadrotor unmanned aerial vehicle, namely, a manipulating unmanned aerial vehicle (MUAV). Manipulator movements and environments interaction will extremely affect the dynamic stability of the MUAV system. So the dynamic stability analysis of the MUAV system is of paramount importance for safety and satisfactory performance. However, the applications of Lyapunov’s stability theory to the MUAV system have been extremely limited, due to the lack of a constructive method available for deriving a Lyapunov function. Thus, Lyapunov exponent method and impedance control are introduced, and the Lyapunov exponent method can establish the quantitative relationships between the manipulator movements and the dynamics stability, while impedance control can reduce the impact of environmental interaction on system stability. Numerical simulation results have demonstrated the effectiveness of the proposed method.
Reference Key
liu2018internationaldynamic Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Yunping Liu;Xijie Huang;Yonghong Zhang;Yukang Zhou
Journal shanghai kou qiang yi xue = shanghai journal of stomatology
Year 2018
DOI
10.1155/2018/3481328
URL
http://dx.doi.org/10.1155/2018/3481328
Keywords
motor vehicles astronautics aeronautics

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