@inproceedings{be45800c28034d40a5eb9e9b8341ae4b,
title = "Geometric modeling and control for the full-actuated aerial manipulating system",
abstract = "This paper proposes a geometric control scheme to stabilize the full-actuated mobile manipulating unmanned aerial system (MM-UAV) to a desired configuration. For this purpose, we firstly describe the kinematics and dynamics of the full-actuated mobile manipulating unmanned aerial system by incorporating the standard concepts from Lie group and Lie algebra. Then, a controller with a proportional derivative (PD) linear action and a nonlinear gravity compensating action is designed by introducing a Morse function. Finally, a number example is presented to demonstrate the effectiveness of the controller.",
keywords = "Full-actuated MM-UAV, Geometric control, Geometric modeling, Morse function",
author = "Zhou, \{Zhi Gang\} and Zhang, \{Yong An\} and Di Zhou",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7554326",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6178--6182",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "美国",
}