University of Twente Student Theses
Control of redundant mechanical systems in the presence of external disturbances
Ali, A.T.S.A. (2022) Control of redundant mechanical systems in the presence of external disturbances.
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| Abstract: | Among the aerial robots, one class is an unmanned aerial manipulator consisting of a rotorcraft unmanned aerial vehicle and a redundant multi-link robotic arm. It makes it possible to carry out manipulation tasks with a flying robot. Stable and efficient position control can be crucial for carrying out manipulation tasks with an aerial manipulator. This paper focuses on exploiting redundancy in the presence of wind gusts while approaching the desired position steadily. Redundancy is exploited by executing numerical experiments of varying parameters while adding disturbances. An output linear quadratic regulator controller algorithm was created and implemented explicitly for controlling the aerial manipulator performing tasks in environments with wind disturbances. Results from the simulated linearized aerial manipulator model on Simulink® demonstrate how and which parameter changes affect the performance—measured by the maximum deviation of the controlled position, convergence time, and control effort. Simulation outputs also present that the designed controller can effectively reject the wind disturbance with proper parameter tuning. Finally, redundancy in this model has shown to have better accuracy in maintaining the referenced position. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 53 electrotechnology |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/91913 |
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