Nonlinear Controllability Assessment of Aerial Manipulator Systems using Lagrangian Reduction
Abstract
This paper analyzes the nonlinear Small-Time Local Controllability (STLC) of a class of underatuated aerial manipulator robots. We apply methods of Lagrangian reduction to obtain their lowest dimensional equations of motion (EOM). The symmetry-breaking potential energy terms are resolved using advected parameters, allowing full SE(3) reduction at the cost of additional advection equations. The reduced EOM highlights the shifting center of gravity due to manipulation and is readily in control-affine form, simplifying the nonlinear controllability analysis. Using Sussmann's sufficient condition, we conclude that the aerial manipulator robots are STLC near equilibrium condition, requiring Lie bracket motions up to degree three.
Additional Information
© 2021 The Author(s). This is an open access article under the CC BY-NC-ND license. Available online 19 November 2021. This work was funded in part by a contract from the NASA Jet Propulsion Laboratory, and by a NASA NSTRF fellowship for the second author.Attached Files
Published - 1-s2.0-S2405896321020851-main.pdf
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Additional details
- Eprint ID
- 112177
- Resolver ID
- CaltechAUTHORS:20211202-191329349
- NASA/JPL/Caltech
- NASA Space Technology Research Fellowship
- Created
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2021-12-03Created from EPrint's datestamp field
- Updated
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2021-12-03Created from EPrint's last_modified field