{"title":"基于鲁棒控制的六自由度机械臂三维机械臂建模与轨迹跟踪","authors":"Zamoum Housseyn, Bouzid Yasser, Guiatni Mohamed","doi":"10.1109/ICAEE53772.2022.9962012","DOIUrl":null,"url":null,"abstract":"This paper presents the modeling and control of an aerial manipulation system that consists of two subsystems: an aerial platform represented by a hexacopter (DJI F550) and a lightweight three-degree-of-freedom (3-DOF) manipulator arm that can be easily integrated into our hexacopter. We also propose a new approach to modeling aerial manipulation systems based on the dynamics of floating base systems with tree structures, such as those studied in bio-inspired soft robotics and space robotics. This system presents many challenges, such as asymmetry, continuously changing inertia, and the center of gravity. These challenges pose a significant control problem in the trajectory tracking of an aerial manipulation robot. For this reason, a robust control technique based on the sliding mode controller is proposed to achieve a high accuracy 3D trajectory tracking objective. Finally, numerical simulations were conducted to demonstrate the efficacy of the suggested technique.","PeriodicalId":206584,"journal":{"name":"2022 2nd International Conference on Advanced Electrical Engineering (ICAEE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Modeling and trajectory tracking by robust control of a hexacopter with a 3-D OF manipulator arm\",\"authors\":\"Zamoum Housseyn, Bouzid Yasser, Guiatni Mohamed\",\"doi\":\"10.1109/ICAEE53772.2022.9962012\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the modeling and control of an aerial manipulation system that consists of two subsystems: an aerial platform represented by a hexacopter (DJI F550) and a lightweight three-degree-of-freedom (3-DOF) manipulator arm that can be easily integrated into our hexacopter. We also propose a new approach to modeling aerial manipulation systems based on the dynamics of floating base systems with tree structures, such as those studied in bio-inspired soft robotics and space robotics. This system presents many challenges, such as asymmetry, continuously changing inertia, and the center of gravity. These challenges pose a significant control problem in the trajectory tracking of an aerial manipulation robot. For this reason, a robust control technique based on the sliding mode controller is proposed to achieve a high accuracy 3D trajectory tracking objective. Finally, numerical simulations were conducted to demonstrate the efficacy of the suggested technique.\",\"PeriodicalId\":206584,\"journal\":{\"name\":\"2022 2nd International Conference on Advanced Electrical Engineering (ICAEE)\",\"volume\":\"15 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-10-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 2nd International Conference on Advanced Electrical Engineering (ICAEE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAEE53772.2022.9962012\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 2nd International Conference on Advanced Electrical Engineering (ICAEE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAEE53772.2022.9962012","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Modeling and trajectory tracking by robust control of a hexacopter with a 3-D OF manipulator arm
This paper presents the modeling and control of an aerial manipulation system that consists of two subsystems: an aerial platform represented by a hexacopter (DJI F550) and a lightweight three-degree-of-freedom (3-DOF) manipulator arm that can be easily integrated into our hexacopter. We also propose a new approach to modeling aerial manipulation systems based on the dynamics of floating base systems with tree structures, such as those studied in bio-inspired soft robotics and space robotics. This system presents many challenges, such as asymmetry, continuously changing inertia, and the center of gravity. These challenges pose a significant control problem in the trajectory tracking of an aerial manipulation robot. For this reason, a robust control technique based on the sliding mode controller is proposed to achieve a high accuracy 3D trajectory tracking objective. Finally, numerical simulations were conducted to demonstrate the efficacy of the suggested technique.