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Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator
An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challe...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7309101/ https://www.ncbi.nlm.nih.gov/pubmed/32466518 http://dx.doi.org/10.3390/s20113019 |
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author | Zhang, Yibo Xu, Bin Xiang, Changle Fan, Wei Ai, Tianfu |
author_facet | Zhang, Yibo Xu, Bin Xiang, Changle Fan, Wei Ai, Tianfu |
author_sort | Zhang, Yibo |
collection | PubMed |
description | An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design. |
format | Online Article Text |
id | pubmed-7309101 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-73091012020-06-25 Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator Zhang, Yibo Xu, Bin Xiang, Changle Fan, Wei Ai, Tianfu Sensors (Basel) Article An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design. MDPI 2020-05-26 /pmc/articles/PMC7309101/ /pubmed/32466518 http://dx.doi.org/10.3390/s20113019 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Zhang, Yibo Xu, Bin Xiang, Changle Fan, Wei Ai, Tianfu Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator |
title | Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator |
title_full | Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator |
title_fullStr | Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator |
title_full_unstemmed | Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator |
title_short | Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator |
title_sort | flight and interaction control of an innovative ducted fan aerial manipulator |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7309101/ https://www.ncbi.nlm.nih.gov/pubmed/32466518 http://dx.doi.org/10.3390/s20113019 |
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