Dynamic Modeling and Trajectory Tracking Controller of a Novel Flying Parallel Robot

摘要

This paper presents a new flying robot, composed of two quadrotors linked by a rigid articulated passive chain. The robot obtained is similar to a parallel robot where the classic actuators have been replaced by flying drones. With its rigid structure presenting an internal degree of freedom, the robot presented is a step forward in flying robotics and presents new challenges for the design of its feedback control. In this paper the dynamic modelling of the robot is analyzed. From this analysis, a decoupling property is extracted leading to a cascaded controller based on feedback linearization. An application to trajectory tracking is developed. The effectiveness and robustness against noise in pose estimation of the proposed controller is verified through a realistic simulation.