Dynamics modelling and predictive control for 6-DOF rotorcraft aerial manipulator system
文献类型：期刊论文
| 作者 | Song DL(宋大雷) ; Qi JT(齐俊桐)
|
| 刊名 | International Journal of Modelling, Identification and Control
 |
| 出版日期 | 2016 |
| 卷号 | 26期号:3页码:227-237 |
| 关键词 | rotorcraft unmanned aerial vehicle RUAV aerial manipulator dynamics modelling predictive control flight simulation |
| ISSN号 | 1746-6172 |
| 产权排序 | 1 |
| 通讯作者 | Song DL(宋大雷) |
| 中文摘要 | Rotorcraft aerial manipulator (RAM) is a new concept of aerial robots with arms, and it changes the traditional searching rotorcraft unmanned aerial vehicles (RUAVs) into operating aerial robots. The additional six degree-of-freedom (DOF) manipulator makes RUAV more flexible to accomplish 'touching' tasks. However, the relative force and torque disturbance, which cannot be eliminated completely in the controller, between the 6-DOF manipulator and the aerial robot, makes the operation precision of the end-effector too poor to accomplish the 'touching' missions. In this research, the overall dynamics model is firstly developed based on dynamic disturbance analysis between the RUAV and the joint 6 DOF robotic arm. Based on the proposed model, to compensate for the disturbance from relative dynamics with rotor system's control delay, a predictive controller is designed to minimise the errors of positions and attitudes of the end-effector. At last, different control strategies are compared in simulated insertion tasks, and the simulation results show the effectiveness of the proposed overall dynamic model and the proposed control strategies in precise air-operation. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/21254]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | Shenyang Institute of Automation Science, State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Song DL,Qi JT. Dynamics modelling and predictive control for 6-DOF rotorcraft aerial manipulator system[J]. International Journal of Modelling, Identification and Control,2016,26(3):227-237. |
| APA | Song DL,&Qi JT.(2016).Dynamics modelling and predictive control for 6-DOF rotorcraft aerial manipulator system.International Journal of Modelling, Identification and Control,26(3),227-237. |
| MLA | Song DL,et al."Dynamics modelling and predictive control for 6-DOF rotorcraft aerial manipulator system".International Journal of Modelling, Identification and Control 26.3(2016):227-237. |
入库方式： OAI收割
来源：沈阳自动化研究所
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