Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle
Joint Authors
Liu, Yunping
Huang, Xijie
Zhou, Yukang
Zhang, Yonghong
Source
International Journal of Aerospace Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-06-12
Country of Publication
Egypt
No. of Pages
13
Abstract EN
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.
American Psychological Association (APA)
Liu, Yunping & Huang, Xijie& Zhang, Yonghong& Zhou, Yukang. 2018. Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle. International Journal of Aerospace Engineering،Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1167069
Modern Language Association (MLA)
Liu, Yunping…[et al.]. Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle. International Journal of Aerospace Engineering No. 2018 (2018), pp.1-13.
https://search.emarefa.net/detail/BIM-1167069
American Medical Association (AMA)
Liu, Yunping & Huang, Xijie& Zhang, Yonghong& Zhou, Yukang. Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle. International Journal of Aerospace Engineering. 2018. Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1167069
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1167069