Graduation Semester and Year
Summer 2024
Language
English
Document Type
Thesis
Degree Name
Master of Science in Mechanical Engineering
Department
Mechanical and Aerospace Engineering
First Advisor
Animesh Chakravarthy
Second Advisor
Alan P. Bowling
Third Advisor
Shuo Linda Wang
Abstract
Unmanned Aerial manipulators (UAMs) are a class of Unmanned Aerial Vehicles (UAVs) equipped with a manipulator. By combining the aerial mobility of a UAV with a manipulator's dexterity, these hybrid systems can perform a wide range of complex tasks while reducing risks and costs. As a result, they are increasingly being utilized for military, industrial, and agricultural applications.
The thesis presents a novel approach for a multi-UAM system to collaboratively deliver a payload on a stationary or maneuvering platform. A sliding-mode-based guidance law, sourced from existing literature, is integrated with a combined control technique for the UAVs and their respective manipulator arms. A nonlinear, quaternion-based control is used to perform attitude control of the UAVs and a feedback linearization law is applied to control the orientation of the manipulator. This integration enables the $3-$UAM system to track the maneuvering platform and deliver the payload accurately from any angle within a finite time. The maneuvering strategies also include a controller to orient the payload to a desired angle, ensuring precise delivery. The novelty of this work lies in the integration of established guidance laws with advanced control techniques significantly enhancing the operational capabilities of the UAM system. Simulations are performed in MATLAB and ROS-Gazebo to validate the functionality of the proposed integrated guidance and control strategy.
Keywords
Sliding mode control, Multi-UAM system, Nonlinear control, Quaternion-based control, Feedback linearization, Payload delivery, Collaborative transport, ROS simulation
Disciplines
Acoustics, Dynamics, and Controls | Controls and Control Theory | Electro-Mechanical Systems | Multi-Vehicle Systems and Air Traffic Control | Navigation, Guidance, Control and Dynamics | Robotics | VLSI and Circuits, Embedded and Hardware Systems
License
This work is licensed under a Creative Commons Attribution 4.0 International License.
Recommended Citation
Gyawali, Ravi, "Nonlinear Guidance and Control of Unmanned Aerial Manipulators for Delivering a Payload on a Moving Platform" (2024). Mechanical and Aerospace Engineering Theses. 674.
https://mavmatrix.uta.edu/mechaerospace_theses/674
Included in
Acoustics, Dynamics, and Controls Commons, Controls and Control Theory Commons, Electro-Mechanical Systems Commons, Multi-Vehicle Systems and Air Traffic Control Commons, Navigation, Guidance, Control and Dynamics Commons, Robotics Commons, VLSI and Circuits, Embedded and Hardware Systems Commons