2026-09-21T00:01:38Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/97341 2023-07-11 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Hovakimyan, Naira Jones, Robert Mitchell 2017-08-10T19:14:56Z 2017-08-10T19:14:56Z 2017-04-27 2017-05 This thesis presents the design and control of a small aerial manipulator operating in indoor environments. The critical challenges of functioning effectively in such environments are (i) maximizing workspace in constrained spaces like narrow corridors or tight corners, and (ii) achieving stable flight when carrying payloads of unknown mass in the presence of uncertainties. While aerial manipulation has been researched to some extent, few efforts have been made to address both of these challenges simultaneously. First, the dynamics of the quadrotor and manipulator are introduced. Then, two types of baseline flight controllers are described as well as a feedforward torque compensation controller and a robust adaptive augmenting controller. Next, the vehicle and manipulator design methodology is discussed. Lastly, results from the implementation of these algorithms on a real aerial manipulator are presented and conclusions of their efficacy are drawn. Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms The student, Robert Jones, accepted the attached license on 2017-04-26 at 16:43. The student, Robert Jones, submitted this Thesis for approval on 2017-04-26 at 17:03. This Thesis was approved for publication on 2017-04-27 at 12:42. DSpace SAF Submission Ingestion Package generated from Vireo submission #10725 on 2017-08-10 at 13:39:31 Made available in DSpace on 2017-08-10T19:14:56Z (GMT). No. of bitstreams: 2 JONES-THESIS-2017.pdf: 7600403 bytes, checksum: c498fbd870c33a7c10c528478964fc20 (MD5) LICENSE.txt: 4209 bytes, checksum: 7f3b2b6ebac05ace56207e40ab7ce65d (MD5) Previous issue date: 2017-04-27 application/pdf http://hdl.handle.net/2142/97341 en Copyright 2017 Robert Jones Aerial Manipulator Quadrotor Unmanned aerial vehicle (UAV) Indoor Design Control Feedforward L1 Augmentation Stabilize Gripper Robot Aerial manipulation for indoor applications text text Mechanical Sci & Engineering Mechanical Engineering University of Illinois at Urbana-Champaign Thesis M.S.