Adaptive Strategies for Collaborative Work with Scale Quad-rotors

José Cesáreo Raimúndez, José Luis Camaño

2014

Abstract

The purpose of this paper is to present strategies for the control of movement of rigid bodies via force actuators, possibly redundant. After a nonlinear feedback linealization of the considered dynamic models and the application of a suitable controller, an adaptive neural network based control component is incorporated in order to cope with modeling errors and disturbance rejection. An online sequential quadratic programing optimization with equality and inequality constraints assures an adequate configuration of actuator forces. Application to collaborative work in the transportation of a rigid body using a squadron of scale quad-rotors is studied.

Paper Citation

in Harvard Style

Raimúndez J. and Camaño J. (2014). Adaptive Strategies for Collaborative Work with Scale Quad-rotors . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 319-326. DOI: 10.5220/0005017603190326

in Bibtex Style

@conference{icinco14,
author={José Cesáreo Raimúndez and José Luis Camaño},
title={Adaptive Strategies for Collaborative Work with Scale Quad-rotors},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={319-326},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005017603190326},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Adaptive Strategies for Collaborative Work with Scale Quad-rotors
SN - 978-989-758-040-6
AU - Raimúndez J.
AU - Camaño J.
PY - 2014
SP - 319
EP - 326
DO - 10.5220/0005017603190326