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Communication Dans Un Congrès Année : 2017

Dynamic Modeling and Trajectory Tracking Controller of a Novel Flying Parallel Robot

Damien Six
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Abdelhamid Chriette
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Philippe Martinet

Résumé

This paper presents a new flying robot, composed of two quadrotors linked by a rigid articulated passive chain. The robot obtained is similar to a parallel robot where the classic actuators have been replaced by flying drones. With its rigid structure presenting an internal degree of freedom, the robot presented is a step forward in flying robotics and presents new challenges for the design of its feedback control. In this paper the dynamic modelling of the robot is analyzed. From this analysis, a decoupling property is extracted leading to a cascaded controller based on feedback linearization. An application to trajectory tracking is developed. The effectiveness and robustness against noise in pose estimation of the proposed controller is verified through a realistic simulation.
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Dates et versions

hal-01479409 , version 1 (24-06-2019)

Identifiants

  • HAL Id : hal-01479409 , version 1

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Damien Six, Abdelhamid Chriette, Sébastien Briot, Philippe Martinet. Dynamic Modeling and Trajectory Tracking Controller of a Novel Flying Parallel Robot. 20th IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01479409⟩
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