Akademik Veri Yönetim Sistemi
AIAA Aviation Forum and ASCEND, 2024, Nevada, Amerika Birleşik Devletleri, 29 Temmuz - 02 Ağustos 2024
This paper presents the modeling and design of controllers for an aerial manipulation system that is obtained by combining a quadrotor and a 2-DOF serial manipulator. Throughout the study, firstly, the kinematic model of the combined system is derived. Denavit-Hartenberg parameters of the serial robotic arm are obtained. Then, the equation of motion of the combined system is formulated by using the Lagrange-D’alembert formulation. Afterward, a feedback linearizing controller is designed for reference trajectory tracking control of the combined system. However, while designing the feedback linearizing controller, unmodeled dynamics and uncertainties of the system are not accounted. Since this can cause instability for practical implementations, an extended state observer is added to the feedback linearizing controller to make the combined system more robust to the unmodeled dynamics and interaction forces applied to the end-effector of the robotic arm. Finally, designed controllers are tested with a simulation scenario in MATLAB/Simulink environment with highly nonlinear dynamics and externally applied forces on the system. From the simulation, both controllers are successful to control the combined system. However, adding an extended state observer increases noticeably the trajectory tracking performance of the combined system.