PhD Thesis

Agile aerial manipulation: an approach based on full-body dynamics and model predictive control

Work default illustration


  • Started: 08/10/2018


The purpose of the research within the framework of my Ph.D. studies is to find ways to control aerial manipulators by taking advantage of its dynamics. Contrarily to the static approach, where actuators have to be dimensioned to perform quasi-static operations, a dynamical approach takes advantage of the movement to achieve the same operations and hence, allows for smaller actuators.
Due to its predictive capability, optimal control techniques (such as differential dynamic programming) are a promising tool to approach the stated challenge. They show promising results both for trajectory generation and real-time control by using model predictive control techniques.

The work is under the scope of the following projects:

  • GAUSS: Galileo-EGNOS as an asset for UTM safety and security (web)
  • MINNA: Módulos de posicionado preciso para manipulación aérea (web)