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Authors: José Cesáreo Raimúndez 1 and José Luis Camaño 2

Affiliations: 1 Universidade de Vigo, Spain ; 2 Universidad de Vigo, Spain

Keyword(s): Collaborative Work, Adaptive Control, Quad-rotor.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

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.

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Paper citation in several formats:
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 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 319-326. DOI: 10.5220/0005017603190326

@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 1: ICINCO},
year={2014},
pages={319-326},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005017603190326},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Adaptive Strategies for Collaborative Work with Scale Quad-rotors
SN - 978-989-758-040-6
IS - 2184-2809
AU - Raimúndez, J.
AU - Camaño, J.
PY - 2014
SP - 319
EP - 326
DO - 10.5220/0005017603190326
PB - SciTePress