Kexin Cai, Hai Yu, Zhaopeng Zhang, Xiao Liang, Yongchun Fang, Jianda Han
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引用次数: 0
Abstract
Unmanned aerial manipulators, integrating multi-rotor unmanned aerial vehicles (UAVs) and multi-link manipulators, are extending the capabilities of UAVs to interact with the environment and demonstrating vast potential for diverse applications. However, the dynamic coupling between the UAV and the manipulator, along with the unmodeled nonlinear disturbances exerting on the aerial platform, pose challenges for high-performance control of the aerial manipulator. To this end, this paper proposes an adaptive augmentation control method for the aerial manipulator to compensate the disturbances brought by manipulator motion and unmodeled uncertainties. Specifically, a baseline geometric controller is constructed to directly compensate the measurable wrench disturbances exerted on the UAV by the manipulator motion, while an adaptive controller is designed to compensate the residual unknown wrench disturbances. By Lyapunov techniques, it is proven that the error signals of the closed-loop system are uniformly ultimately bounded, which demonstrates the theoretical effectiveness of the proposed method. Finally, the feasibility and robustness of the proposed control method are validated through three groups of hardware experiments.
期刊介绍:
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.