Adaptive Augmented Torque Control of a Quadcopter with an Aerial Manipulator

IF 1.3 Q3 REMOTE SENSING
V. Sumathy, D. Ghose
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引用次数: 2

Abstract

A quadcopter manipulator system is an aerial robot consisting of a quadcopter with a robotic arm attached to it. The system has coupled non-linear dynamics with uncertain time-varying parameters. The work in this paper focuses on designing an adaptive non-linear controller to facilitate the uncertain system’s trajectory tracking and stability. The novelty of the proposed work is the design and implementation of an adaptive feedback linearization controller, called adaptive augmented torque (AAT) control, for the aerial robot. The control law is based on a feedback linearization controller with model reference adaptive controller and a tracking error-based augmented term. Using the input-to-state (ISS) stability concept, a bound on the parameter estimation error is also developed. In the presented methodology, the controller uses estimated values of system parameters obtained from the adaptive mechanism and the tracking error to compute the control input using the AAT control law. An adaptive law for estimating unknown parameters is obtained using the strictly positive real-Lyapunov method. The asymptotic stability of the closed-loop system is analyzed via the Lyapunov theory. Simulations implemented in MATLAB and ROS/Gazebo and preliminary hardware experiments are presented to validate the theoretical results and to corroborate the performance of the AAT control law.
具有航空操纵器的四旋翼飞行器的自适应增矩控制
四旋翼机械手系统是一种由四旋翼机和机械臂组成的空中机器人,该系统具有不确定时变参数的非线性动力学耦合。本文的工作重点是设计一种自适应非线性控制器,以促进不确定系统的轨迹跟踪和稳定性。所提出的工作的新颖之处在于设计和实现了一种用于航空机器人的自适应反馈线性化控制器,称为自适应增强转矩(AAT)控制。该控制律基于具有模型参考自适应控制器的反馈线性化控制器和基于跟踪误差的增广项。利用输入-状态(ISS)稳定性概念,还推导了参数估计误差的界。在所提出的方法中,控制器使用从自适应机构获得的系统参数的估计值和跟踪误差来使用AAT控制律计算控制输入。利用严格正实李雅普诺夫方法,得到了估计未知参数的自适应律。利用李雅普诺夫理论分析了闭环系统的渐近稳定性。在MATLAB和ROS/Gazebo中进行了仿真,并进行了初步的硬件实验,以验证理论结果和AAT控制律的性能。
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
CiteScore
5.30
自引率
0.00%
发文量
2
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