Modeling and controller design of hydraulic rotorcraft aerial manipulator
文献类型：会议论文
| 作者 | Lin TY(林天宇); Li, Yongzhe; Qi JT(齐俊桐) ; Meng XD(孟祥冬); Han JD(韩建达)
|
| 出版日期 | 2015 |
| 会议名称 | 27th Chinese Control and Decision Conference, CCDC 2015 |
| 会议日期 | May 23-25, 2015 |
| 会议地点 | Qingdao, China |
| 关键词 | RAM Hydraulic manipulator Modeling LQR controller Robust controller |
| 页码 | 5446-5452 |
| 中文摘要 | Traditional Rotary-wing Unmanned Aerial Vehicles (R-UAV) are mostly utilized to conduct surveillance. Installing a mechanical manipulator on R-UAV will result a Rotorcraft Aerial Manipulator (RAM) system. A RAM system enlarges the R-UAV's application scope. The RAM system proposed by this research is composed of R-UAV and a miniature hydraulic manipulator. With the combined merits of the two systems, this RAM system has enhanced flexibility and is capable of fulfilling more tasks. The hovering mode dynamics model of the RAM is established referring to the working characteristics of the hydraulic manipulator. An LQR controller is used to control the planar motion of the hydraulic manipulator. The motion of the manipulator will exert coupled force and moment influence on the RAM system. This coupled influence is taken as a disturbance to the R-UAV system which is restrained by a robust controller. Finally, through simulation, the effectiveness of the established dynamics model and the proposed control strategy is verified. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-7016-2 |
| WOS记录号 | WOS:000375232900112 |
| 源URL | [http://ir.sia.cn/handle/173321/17197]  |
| 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 | Lin TY,Li, Yongzhe,Qi JT,et al. Modeling and controller design of hydraulic rotorcraft aerial manipulator[C]. 见:27th Chinese Control and Decision Conference, CCDC 2015. Qingdao, China. May 23-25, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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