Aerial Manipulation using Model Predictive Control for Opening a Hinged Door

Autor:	Lee, Dongjae, Seo, Hoseong, Kim, Dabin, Kim, H. Jin
Rok vydání:	2020
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial manipulation, interaction with moving structures should also be considered. In this paper, a multirotor-based aerial manipulator opening a daily-life moving structure, a hinged door, is presented. In order to address the constrained motion of the structure and to avoid collisions during operation, model predictive control (MPC) is applied to the derived coupled system dynamics between the aerial manipulator and the door involving state constraints. By implementing a constrained version of differential dynamic programming (DDP), MPC can generate position setpoints to the disturbance observer (DOB)-based robust controller in real-time, which is validated by our experimental results. Comment: to be presented in 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2003.08256 Zobrazit plný text záznamu View this record from Arxiv