An experiment study for unmanned aerial manipulator systems with L1 adaptive augmentation of geometric control

IF 4.6 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
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 L1 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 L1 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.
基于L1自适应增强几何控制的无人机机械臂系统实验研究
集成了多旋翼无人机(uav)和多连杆机械臂的无人机,正在扩展无人机与环境交互的能力,并显示出多种应用的巨大潜力。然而,无人机与机械臂之间的动力学耦合以及施加在空中平台上的未建模的非线性扰动给空中机械臂的高性能控制带来了挑战。为此,本文提出了一种航空机械臂L1自适应增强控制方法,以补偿机械臂运动带来的干扰和未建模的不确定性。具体而言,构建基线几何控制器直接补偿机械手运动对无人机产生的可测量扳手扰动,设计L1自适应控制器补偿剩余未知扳手扰动。通过Lyapunov技术证明了闭环系统的误差信号最终是一致有界的,证明了所提方法的理论有效性。最后,通过三组硬件实验验证了所提控制方法的可行性和鲁棒性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Control Engineering Practice
Control Engineering Practice 工程技术-工程:电子与电气
CiteScore
9.20
自引率
12.20%
发文量
183
审稿时长
44 days
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.
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