Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model | |
Zhang GY(张广玉)2,3; He YQ(何玉庆)2,3; Dai B(代波)2,3; Gu F(谷丰)2,3; Liu GJ(刘光军)4 | |
刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS |
2020 | |
卷号 | 67期号:11页码:9515-9525 |
关键词 | Manipulator dynamics Couplings Vehicle dynamics Unmanned aerial vehicles Force Robustness Aerial manipulator disturbance rejection dynamic modeling unmanned aerial vehicle (UAV) control |
ISSN号 | 0278-0046 |
产权排序 | 1 |
英文摘要 | Aerial manipulator, which is composed of an unmanned aerial vehicle (UAV) and a multilink manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the manipulator makes it difficult to control the aerial manipulator with high performance. In this article, system modeling and control problem of the aerial manipulator are studied. First, an UAV dynamic model is proposed with consideration of the dynamic coupling from an attached manipulator, which is treated as disturbance for the UAV. In the dynamic model, the disturbance is affected by the variable inertia parameters of the aerial manipulator system. Then, based on the proposed dynamic model, a disturbance compensation robust H-infinity controller is designed to stabilize flight of the UAV while the manipulator is in operation. Finally, experiments are conducted and the experimental results demonstrate the feasibility and validity of the proposed control scheme. |
资助项目 | National Nature Sciences Foundation of China[61433016] ; National Nature Sciences Foundation of China[U1608253] |
WOS关键词 | SYSTEM |
WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
语种 | 英语 |
WOS记录号 | WOS:000552206000045 |
资助机构 | National Nature Sciences Foundation of ChinaNational Natural Science Foundation of China [61433016, U1608253] |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/27386] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | He YQ(何玉庆) |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 4.Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada 5.Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 6.Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada |
推荐引用方式 GB/T 7714 | Zhang GY,He YQ,Dai B,et al. Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(11):9515-9525. |
APA | Zhang GY,He YQ,Dai B,Gu F,&Liu GJ.(2020).Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(11),9515-9525. |
MLA | Zhang GY,et al."Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.11(2020):9515-9525. |
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