Diseño y simulación de controladores tipo PID y espacios nulos para seguimiento de trayectoria y evasión de obstáculos aplicados a una formación de manipuladores aéreos

Abstract

This work presents a study of trajectory tracking control and obstacle avoidance applied to a formation of three aerial manipulators. For the trajectory tracking task, a PID-type control and a null-space based control scheme are proposed. The null space of a Jacobian matrix is used to achieve several control objectives, assigning a priority in the order of the tasks involved while resolving conflicts between them. For the task of obstacle avoidance, the definition of artificial potential energy coupled with the null-space approach is used. The stability of the proposed controls is verified according to Lyapunov criteria. Using MATLAB as a simulation platform, the results obtained from some simulation tests and the design of a graphical user interface are presented. The performance of the proposed controllers is also analyzed using the ISE or integral performance index of the squared error. The results for the null-space based controllers show the system response for different priorities between the control tasks.