MSc. Thesis Defense:Emre Yılmaz11-07-2019
MODELING AND NONLINEAR ADAPTIVE CONTROL OF AN AERIAL MANIPULATION SYSTEM
ME, MSc. Thesis, 2019
Prof. Dr. Mustafa Ünel (Thesis Advisor), Assoc. Prof. Dr. Kemalettin Erbatur,
Assist. Prof. Dr. Ertuğrul Çetinsoy
Date & Time: July 16th, 2019 – 10.00 AM
Place: FENS G029
Keywords: Aerial Robots, Unmanned Aerial Vehicles, Robotic Arms, Aerial Manipulation, MRAC, Nonlinear Adaptive Control
Autonomous aerial robots have become an essential part of many civilian and military applications. The workspace and agility of these vehicles motivated great research interest resulting in various studies addressing their control architectures and mechanical configurations. Increasing autonomy enabled them to perform tasks such as surveillance, inspection and remote sensing in hazardous and challenging environments. The ongoing research promises further contributions to the society, in both theory and practice. To furthermore extend their vast applications, aerial robots are equipped with the tools to enable physical interaction with the environment. These tasks represent a great challenge due to the technological limitations as well as the lack of sophisticated methods necessary for the control of the system to perform desired operations in an efficient and stable manner. Modeling and control problem of an aerial manipulation is still an open research topic with many different studies addressing these issues from different perspectives.
This thesis deals with the nonlinear adaptive control of an aerial manipulation system (AMS). The system consists of a quadrotor equipped with a 2 degrees of freedom (DOF) manipulator. The complete modeling of the system is done using the Euler-Lagrange method. A hierarchical nonlinear control structure which consists of outer and inner control loops has been utilized. Model Reference Adaptive Controller (MRAC) is designed for the outer loop where the required command signals are generated to force the quadrotor to move on a reference trajectory in the presence of mass uncertainties and reaction forces coming from the manipulator. For the inner loop, the attitude dynamics of the quadrotor and the joint dynamics of the 2-DOF robotic arm are considered as a fully actuated 5-DOF unified part of the AMS. Nonlinear adaptive control has been utilized for the low-level controller where the changes in inertias have been considered. The proposed controller is tested on a high fidelity AMS model in the presence of uncertainties, wind disturbances and measurement noise, and satisfactory trajectory tracking performance with improved robustness is achieved.