The purpose of this study is to control an aerial manipulator, using the Virtual decomposition control. The studied system will consist of an S500 chassis drone and a serial manipulator with 2 degrees of freedom. First, a kinematic and dynamic model of the machine will be established. Then, an altitude and orientation control will be developed. Three control cases will be presented. The first consists in applying the classic control laws of the VDC method. The other two are to robustify the previous case by using the sign and hyperbolic tangent functions. To get the different physical parameters of the system, an assembly of the aerial system will be carried out using SolidWorks. This assembly will consist of a pre-existing S500 drone design and a serial arm designed using the same software. To validate the developed controls, two types of simulations will be carried out. The first will be under the MATLAB/Simulink simulation environment and will be carried out for two motion scenarios. Scenario one will be applied to the three control cases and will allow the determination of the best control case. Scenario II, on the other hand, will simulate the performance of the optimal case for cubic polynomial trajectories. The second type of simulation will be under Simscape Multibody. It consists on applying the second scenario to the assembly produced and imported under Matlab mechanics in order to observe the movement of the manipulation system and the resulting improvements.
| Date | 6 Dec 2022 |
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| Original language | French |
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| Awarding Institution | - École de technologie supérieure
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| Supervisor | Maarouf Saad (Supervisor) & Jawhar Ghommam (Co-supervisor) |
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Mechichi, S. (Author),
Saad (Supervisor) & Ghommam (Co-supervisor),
6 Dec 2022Student thesis: Master's thesis › Master in Engineering: Electrical Engineering