An overactuated aerial robot based on cooperative quadrotors attached through passive universal joints: Modeling, control and 6-DoF trajectory tracking.
Imanol IriarteJorge GorostizaIñaki IglesiasJoseba LasaHodei Calvo-SoraluzeBasilio SierraPublished in: Robotics Auton. Syst. (2024)
Keyphrases
- trajectory tracking
- visual servoing
- control system
- parallel robot
- closed loop
- dynamic model
- bi directional
- control method
- iterative learning
- sliding mode
- physical constraints
- control law
- degrees of freedom
- robotic arm
- robotic manipulator
- end effector
- wheeled mobile robots
- iterative learning control
- mobile robot
- vision system
- robot control
- robot manipulators
- motion planning
- neural network controller
- control scheme
- control strategy
- adaptive control
- neural network structure
- path planning
- variable structure
- camera motion
- optimal control
- control theory
- stability analysis
- autonomous robots
- real time
- dynamical systems
- fuzzy controller
- pose estimation
- sliding mode control
- chaotic systems
- fuzzy logic
- control algorithm
- reference trajectory