Collision-Free Formation Control for Multiple Quadrotor-Manipulator Systems <ce:cross-ref refid='fn1'> <ce:sup loc='post'>*</ce:sup> </ce:cross-ref> <ce:footnote id='fn1'> <ce:label>*</ce:label> <ce:note-para id='npara0001' view='all'>This work is supported by NSFC Grant No.61503025 and Research Fund of Key Laboratory within Ministry of Industry and Information</ce:note-para> </ce:footnote>

Yuhua Qi; Jianan Wang; Jiayuan Shan

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This work is supported by NSFC Grant No.61503025 and Research Fund of Key Laboratory within Ministry of Industry and Information

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Collision-Free Formation Control for Multiple Quadrotor-Manipulator Systems * * This work is supported by NSFC Grant No.61503025 and Research Fund of Key Laboratory within Ministry of Industry and Information

机译：多个四旋翼机械手系统的无碰撞编队控制 * * 这项工作得到了国家自然科学基金资助项目61503025和研究基金的支持工信部重点实验室简介

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In this paper, we develop a formation control law with collision avoidance for multiple quadrotor-manipulator systems that each quadrotor is equipped with a robotic manipulator. Firstly the kinematic and dynamic models of a quadrotor with multi-DOF robotic manipulator are built together using Euler-Lagrange (EL) equations. Based on the aggregated dynamic model, we propose a control scheme consisting of position controller, attitude controller and manipulator controller, respectively. The desired formation is achieved by the proposed position controller and attitude controller, while the collision avoidance is guaranteed by an artificial potential function (APF) method. The robotic manipulators are able to perform cooperative missions by the proposed manipulator controller. The overall stability of the closed-loop system is proven by a Lyapunov method and Matrosov’s theorem. In the end, the proposed control scheme is demonstrated by a formation flying mission of four quadrotors with 2-DOF manipulators.

机译：在本文中，我们为每个四旋翼机器人都配备了机器人的多个四旋翼机器人系统开发了一种避免碰撞的编队控制律。首先，使用欧拉-拉格朗日（EL）方程共同建立了具有多自由度机器人操纵器的四旋翼的运动学和动力学模型。基于集合的动力学模型，提出了一种分别由位置控制器，姿态控制器和机械手控制器组成的控制方案。通过提出的位置控制器和姿态控制器可以实现所需的构造，而通过人工势函数（APF）方法可以确保避免碰撞。机器人操纵器能够通过提出的操纵器控制器执行协作任务。 Lyapunov方法和Matrosov定理证明了闭环系统的整体稳定性。最后，提出的控制方案通过带有2-DOF机械手的四个四旋翼的编队飞行任务得到证明。

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《IFAC PapersOnLine》 |2017年第1期|共6页
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Yuhua Qi; Jianan Wang; Jiayuan Shan;
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中图分类自动化技术、计算机技术;
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Collision-Free Formation Control for Multiple Quadrotor-Manipulator Systems * * This work is supported by NSFC Grant No.61503025 and Research Fund of Key Laboratory within Ministry of Industry and Information

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