Multicopter uncrewed aircraft systems (UAS) commonly use parallel rotors to create body-fixed thrust and torque for control, leaving these systems underactuated. Under-actuation poses a significant challenge in tasks where attitude is critical, such as in collision-based aerial manipulation. Planning and control of system state at collision is required to ensure safe post-collision recovery. In particular, setting up pre-impact states such that impulses do not produce moments about mass centers can ensure recoverable departure velocities. To address the underactuated nature of UAS for collision-based aerial manipulation, this paper presents a UAS with an attached actuated pogostick. While the UAS with actuated pogostick is still underactuated, closing a control loop on the collision variables critical to managing collision response becomes possible with the new system equations. The proposed approach leverages an optimal trajectory planner coupled with a run-time controller based on partial feedback linearization of the UAS with actuated pogostick. Results show that the addition of the actuated pogostick enables setup for recoverable post-collision states when given dynamically feasible trajectories from the optimal trajectory planner.


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    Titel :

    Shifting Underactuated Configuration Variables in Aerial Manipulation by Adding an Actuated Arm


    Beteiligte:
    Nail, Mark (Autor:in) / Atkins, Ella (Autor:in) / Gillespie, R. Brent (Autor:in)


    Erscheinungsdatum :

    14.05.2025


    Format / Umfang :

    2071638 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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