Varying Inertial Parameters Model Based Robust Control for An Aerial Manipulator

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	Varying Inertial Parameters Model Based Robust Control for An Aerial Manipulator
	Zhang GY(张广玉); He YQ(何玉庆); Gu F(谷丰); Han JD(韩建达); Liu GJ(刘光军)
	2016
会议名称	2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期	December 3-7, 2016
会议地点	Qingdao, China
页码	696-701
通讯作者	张广玉
中文摘要	The aerial manipulator is a new kind of UAV system composed of an aerial robot and a multi-link manipulator. It enables the traditional aerial robots to perform fine manipulation, and thus has great potential for many real applications. However, one of the most challenging problems of the aerial manipulator system is the high performance steady control. Its difficulties mainly come from the heavy dynamics couplings between the aerial robot and the manipulator, especially when quick relative motion is required. Thus in this paper, the modeling and motion control problem of the aerial manipulator is studied. Firstly, a new modeling scheme is proposed by using the concept of Varying Inertial Parameters (VIP), the main idea of which is to take the influence of coupling on the aerial robot as a group of state dependent inertial parameters, i.e., the Center of Mass (CoM) and inertia matrix of the aerial robot is varying with the relative state variance. Subsequently, based on the VIP model, a feedforward compensation H∞ controller is designed to implement the steady flight of the whole system with relative movement. Finally, simulations are conducted and the feasibility and validity of the new proposed scheme is shown.
收录类别	EI
产权排序	1
会议录	Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5090-4363-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19525]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Zhang GY,He YQ,Gu F,et al. Varying Inertial Parameters Model Based Robust Control for An Aerial Manipulator[C]. 见:2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016). Qingdao, China. December 3-7, 2016.