Guaranteed cost control for a class of composite hybrid aerial/terrestrial precise manipulator with stochastic switching payloads

Abstract

This article investigates the modeling and attitude control of a class of composite hybrid aerial/terrestrial precise manipulator (Chat‐PM) with stochastic switching payloads when attaching to a vertical surface. The dynamics of the Chat‐PM for aerial locomotion are modeled by transferring the force and moment of the end‐effector to the body based on the recursive Newton–Euler equations. Furthermore, the attitude dynamics of the Chat‐PM under the wall‐attachment condition is obtained by limiting the attitude angle/angular velocity and introducing the friction torque acting on the passive wheels for the first time. Taking into consideration the complexity of the task and the stochastic nature of environmental changes, the payload attached to the end‐effector is modeled as a continuous‐time Markov process with mode‐dependent fixed sojourn time in this study. The proposed guaranteed cost controller results in the Chat‐PM capable of stably attaching to a wall under random switching loads, while guaranteeing the quadratic performance cost with an attainable upper bound. Additionally, a convex‐optimization‐based guaranteed cost controller is proposed to optimize the performance cost in the random switching part. Finally, the effectiveness of the proposed guaranteed cost controllers is demonstrated by illustrative examples.