Dual Path Following for an Aerial Manipulator Under State and Input Constraints via Transverse Feedback Linearization
Dual Path Following for an Aerial Manipulator Under State and Input Constraints via Transverse Feedback Linearization
This research presents a control framework for a quadrotor carrying a three-degree-of-freedom arm to follow two simultaneous paths (vehicle center of mass and end-effector) while respecting joint limits and avoiding singularities. The authors derive a normal form without internal dynamics, formulate the controller as a quadratic program with closed-form solutions under relaxed speed constraints, and demonstrate conflict resolution in the Drake physics engine by slowing the end effector when necessary. Code and animations are provided at https://gradslab.github.io/am_dual_pf-/
The paper proposes a transverse feedback linearizing controller for a quadrotor with a three-DOF arm to simultaneously follow vehicle and end-effector paths under joint limits and singularities, validated in the Drake physics engine; claims of local Lipschitz continuity and path invariance are conditional on strict feasibility of the quadratic program.
Source: arXiv Robotics — research abstracts · Read original article ↗
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cascade with a safety filter leaves both paths. Code and animations are available at https://gradslab.github.io/am_dual_pf-/
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org