Aerial Manipulator Pushing a Movable Structure using a DOB-based Robust Controller

This paper deals with the problem of an aerial manipulator pushing a movable structure. Contrary to physical interaction with a static structure, suitable consideration of the interacting force during the motion of the structure is required to stably perform this movable structure interaction. To accomplish the task of pushing a structure while ensuring the stability of the aerial manipulator, we present a nonlinear disturbance-observer (DOB)-based robust control approach by regarding the interaction force as a disturbance to the system. Furthermore, to utilize the proposed controller for pushing a movable structure, we propose an algorithm to generate an end-effector position reference that enables safe operation in a realistic situation. We validate the proposed control framework with successful demonstrations on pushing two types of movable structures, a heavy rolling cart (42 [kg]), and a real-like hinged door.

Bibtex

@ARTICLE{9309359,
  author={D. {Lee} and H. {Seo} and I. {Jang} and S. J. {Lee} and H. J. {Kim}},
  journal={IEEE Robotics and Automation Letters}, 
  title={Aerial Manipulator Pushing a Movable Structure using a DOB-based Robust Controller}, 
  year={2020},
  volume={},
  number={},
  pages={1-1},
  doi={10.1109/LRA.2020.3047779}}