Sial, Munadi Ahmad  <br/><br/>
Flight Stability of UAV-Manipulator System for Grasping Applications using Sliding Mode Control / 
Munadi Ahmad Sial 
 - 122p.  Soft Copy  30cm 
<br/><br/> An Aerial Manipulator is a coupled system which consists of a robotic arm attached to the<br/>body of a drone. A drone is itself a non-linear system which is linearly approximated to enable<br/>PID control. With the addition of a manipulator, the non-linearity is increased to a significant<br/>extent. The combined system has very complex dynamics due to the shifting of the center of mass<br/>from actuating the arm. This places a great demand on the flight control system in order to maintain<br/>stability. Another problem is the sudden change in system dynamics whenever an object is grasped.<br/>The benefit of such a complex system is that the drone will be able to physically interact with the<br/>environment that it is inspecting. The interaction can be in the form grasping, pushing, pulling and<br/>transport of objects. The purpose of this research is to design and control an aerial manipulator for<br/>the stable grasping of small objects. 
<br/><br/><label>Subjects--Topical Terms: </label><br/>MS Robotics and Intelligent Machine Engineering   
<br/><br/><label>Dewey Class. No.: </label>629.8