Model reference adaptive control: from theory to practice
Model reference adaptive control: from theory to practice
Marine vehicles' line following controller tuning through self-oscillation experiments
MED '09 Proceedings of the 2009 17th Mediterranean Conference on Control and Automation
Autonomous transportation and deployment with aerial robots for search and rescue missions
Journal of Field Robotics
Modelling and control of a flying robot interacting with the environment
Automatica (Journal of IFAC)
Journal of Intelligent and Robotic Systems
Robotics, Vision and Control: Fundamental Algorithms in MATLAB
Robotics, Vision and Control: Fundamental Algorithms in MATLAB
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This paper presents a control scheme to achieve dynamic stability in a mobile manipulating unmanned aerial vehicle (MM-UAV) using a combination of Gain scheduling and Lyapunov based model reference adaptive control (MRAC). Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the saftey of the aerial manipulation missions.