Hybrid adaptive control system with augmented user interaction for stable aerial manipulation

Orsag, Matko

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doctoral thesis

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Hybrid adaptive control system with augmented user interaction for stable aerial manipulation

Matko Orsag (2014)

University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Cite this document

APA 6th Edition

Orsag, M. (2014). Hybrid adaptive control system with augmented user interaction for stable aerial manipulation (Doctoral thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:760250

MLA 8th Edition

Orsag, Matko. "Hybrid adaptive control system with augmented user interaction for stable aerial manipulation." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:760250

Chicago 17th Edition

Harvard

Orsag, M. (2014). 'Hybrid adaptive control system with augmented user interaction for stable aerial manipulation', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 14 October 2019, https://urn.nsk.hr/urn:nbn:hr:168:760250

Vancouver

Orsag M. Hybrid adaptive control system with augmented user interaction for stable aerial manipulation [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2014 [cited 2019 October 14] Available at: https://urn.nsk.hr/urn:nbn:hr:168:760250

IEEE

M. Orsag, "Hybrid adaptive control system with augmented user interaction for stable aerial manipulation", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2014. Available at: https://urn.nsk.hr/urn:nbn:hr:168:760250

Cite this item: https://urn.nsk.hr/urn:nbn:hr:168:760250

Metadata

Title	Hybrid adaptive control system with augmented user interaction for stable aerial manipulation
Title (croatian)	Hibridni adaptivni sustav upravljanja s proširenim korisničkim sučeljem za stabilne manipulacije u letu
Author	Matko Orsag
Mentor	Stjepan Bogdan (mentor)
Mentor	Paul Oh (komentor) strani drzavljanin: Nije dostupno
Committee member	Stjepan Bogdan (član povjerenstva)
Granter	University of Zagreb Faculty of Electrical Engineering and Computing (Department of Control and Computer Engineering) Zagreb
Defense date and country	2014, Croatia
Scientific / art field, discipline and subdiscipline	TECHNICAL SCIENCES Electrical Engineering Automation and Robotics
Universal decimal classification (UDC)	621.3 APPLIED SCIENCES. MEDICINE. TECHNOLOGY Electrical engineering
Abstract	This thesis extends the current state of the art in Unmanned Aerial Vehicle (UAV) research by introducing multiple degree of freedom manipulators attached to its body, thus yielding a mobile manipulating UAV (MM-UAV). As a mobile manipulating UAV establishes contact with the ground, the analysis starts with a modeling approach capable of capturing dynamical properties of multiple rigid body systems with no, single and multiple contacts with the ground. Finally, the thesis explores aerial vehicle dynamics by removing contacts with the ground, deriving a nonlinear mathematical model that incorporates aerodynamic effects of forward and vertical flights. This basic quadrotor UAV model is then extended to take into account the multiple link body system dynamics. Due to the stability problems in aerial manipulation, thesis investigates the potential use of adaptive control techniques to control a multi-arm manipulating aerial vehicle (i.e. gain scheduling control, model reference adaptive controller) which are verified using the Lyapunov stability theory. Finally, this work proposes a human machine interface that goes beyond simple joystick control to allow a single operator to easily teleoperate the UAV. The design of HMI falls under the category paradigm known as Mixed-Initiative Adjustable Autonomy, which was tested with supervisor's override of operator’s controls. Both autonomous and teleoperation modes are tested and compared experimentally.
Abstract (croatian)	Ovom doktorskom disertacijom nastoji se proširiti mogućnosti specijaliziranog područja robotike, bespilotnih letjelica, dodajući im sposobnost manipulacije okolinom. Disertacijom su obuhvaćeni fundamentalni problemi ovako složenih sustava: matematičko modeliranje dinamike sustava, analiza stabilnosti sustava upravljanja i razvoj sučelja čovjeka i bespilotnog robotskog sustava Disertacija započinje predstavljanjem detaljnog matematičkog modela letjelice opremljene za manipulacije u zraku, uključujući fundamentalne aerodinamične utjecaje. Disertacija potom analizira utjecaj dinamike manipulatora, kao i efekte dodira s okolinom. Konačno, rad predstavlja cjeloviti model sustava za manipulacije u zraku. Analizom cjelovitog modela jasno je pokazan utjecaj zglobova manipulatora na stabilnost sustava, te se predlaže struktura adaptivnog upravljanja s referentnim modelom i prepodešenim parametrima, kojom se osigurava njegova stabilnost. Metodom Ljapunova, matematički se dokazuje stabilnost predloženog sustava upravljanja. Konačno, disertacija opisuje sintezu proširenog korisničkog sučelja između operatera i sustava, zasnovanog na pokretima, zvuku i vizualnoj povratnoj vezi, čija autonomija ovisi o psihofizičkom stanju operatera. Kraj disertacije posvećen je eksperimentalnoj validaciji cjelokupnog sustava.
Keywords
Keywords (croatian)
Language	english
URN:NBN	urn:nbn:hr:168:760250
Study programme	Title: Electrical Engineering and Computing Study programme type: university Study level: postgraduate Academic / professional title: Doktor znanosti elektrotehnike i računarstva (Doktor znanosti elektrotehnike i računarstva)
Type of resource	Text
Extent	183 str. ; 30 cm.
File origin	Born digital
Access conditions	Closed access
Terms of use
Repository	FER Repository
Created on	2019-04-16 16:05:40