Stability of helicopters in compliant contact under PD-PID control

Pounds, Paul E. I. and Dollar, Aaron M. (2014) Stability of helicopters in compliant contact under PD-PID control. IEEE Transactions on Robotics, 30 6: 1472-1486. doi:10.1109/TRO.2014.2363371

Author Pounds, Paul E. I.
Dollar, Aaron M.
Title Stability of helicopters in compliant contact under PD-PID control
Journal name IEEE Transactions on Robotics   Check publisher's open access policy
ISSN 1552-3098
Publication date 2014-12-01
Year available 2014
Sub-type Article (original research)
DOI 10.1109/TRO.2014.2363371
Open Access Status
Volume 30
Issue 6
Start page 1472
End page 1486
Total pages 15
Place of publication Piscataway NJ United States
Publisher Institute of Electrical and Electronics Engineers
Collection year 2015
Language eng
Formatted abstract
Aerial vehicles are difficult to stabilize, especially when acted upon by external forces. A hovering vehicle interacting with objects and surfaces must be robust to contact forces and torques transmitted to the airframe. These produce coupled dynamics that are distinctly different from those of free flight. While external contact is generally avoided, extending aerial robot functionality to include contact with the environment during flight opens up new and useful areas such as perching, object grasping, and manipulation. These mechanics may be modeled as elastic couplings between the aircraft and the ground, represented by springs in R3×SO(3). We show that proportional derivative and proportional integral derivative (PID) attitude and position controllers that stabilize a rotorcraft in free flight will also stabilize the aircraft during contact for a range of contact displacements and stiffnesses. Simulation of the coupled aircraft dynamics demonstrates stable and unstable modes of the system. We find analytical measures that predict the stability of these systems and consider, in particular, the planar system in which the contact point is directly beneath the rotor. We show through explicit solution of the linearized system that the planar dynamics of the object–helicopter system in vertical, horizontal, and pitch motion around equilibrium remain stable, within a range of contact stiffnesses, under unmodified PID attitude control. Flight experiments with a small-scale PID-stabilized helicopter fitted with a compliant gripper for capturing objects affirm our model's stability predictions.
Keyword Aerial manipulation
Mobile manipulation
Unmanned aerial vehicles (uavs)
Q-Index Code C1
Q-Index Status Confirmed Code
Institutional Status UQ

Document type: Journal Article
Sub-type: Article (original research)
Collections: Official 2015 Collection
School of Information Technology and Electrical Engineering Publications
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Citation counts: TR Web of Science Citation Count  Cited 1 times in Thomson Reuters Web of Science Article | Citations
Scopus Citation Count Cited 14 times in Scopus Article | Citations
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Created: Tue, 23 Dec 2014, 00:28:58 EST by System User on behalf of School of Information Technol and Elec Engineering