Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator
文献类型:期刊论文
作者 | Liu GJ(刘光军)1; Han JD(韩建达)5; Yang LY(杨丽英)4,5; Gu F(谷丰)4,5; Dai B(代波)3,4,5; He YQ(何玉庆)2,4,5; Zhang GY(张广玉)3,4,5 |
刊名 | APPLIED SCIENCES-BASEL |
出版日期 | 2019 |
卷号 | 9期号:11页码:1-17 |
ISSN号 | 2076-3417 |
关键词 | aerial robot aerial manipulator robot control disturbance rejection robust control UAV |
产权排序 | 1 |
英文摘要 | An aerial manipulator is a new kind of flying robot system composed of a rotorcraft unmanned aerial vehicle (UAV) and a multi-link robotic arm. It gives the flying robot the capacity to complete manipulation tasks. Steady flight is essential for an aerial manipulator to complete manipulation tasks. This paper focuses on the steady flight control performance of the aerial manipulator. A separate control strategy is used in the aerial manipulator system, in which the UAV and the manipulator are controlled separately. In order to complete tasks in environments with strong wind disturbance, an acceleration feedback enhanced robust H controller was designed for the UAV in the aerial manipulator. The controller is based on the hierarchical inner-outer loop control structure of the UAV and composed of a robust H controller and acceleration feedback enhanced term, which is used to compensate for the wind disturbance. Experimental results of aerial grasping of a target object show that the controller can suppress the wind disturbance effectively, and make the aerial manipulator hover steadily with sufficient accuracy to complete aerial manipulation tasks in strong wind. |
资助项目 | National Key Research and Development Program of China[2017YFC1405401] ; National Nature Sciences Foundation of China[61433016] ; National Nature Sciences Foundation of China[U1608253] ; Science and Technology Planning Project of Guangdong Province[2017B010116002] |
WOS研究方向 | Chemistry ; Materials Science ; Physics |
语种 | 英语 |
WOS记录号 | WOS:000472641200058 |
资助机构 | National Key Research and Development Program of China ; National Nature Sciences Foundation of China ; Science and Technology Planning Project of Guangdong Province |
源URL | [http://ir.sia.cn/handle/173321/25322] |
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.Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada 2.Shenyang Institute of Automation (Guangzhou), CAS, Guangzhou 511458, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Institute for Robotics and Intelligent Manufacturing, CAS, Shenyang 110016, China 5.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Liu GJ,Han JD,Yang LY,et al. Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator[J]. APPLIED SCIENCES-BASEL,2019,9(11):1-17. |
APA | Liu GJ.,Han JD.,Yang LY.,Gu F.,Dai B.,...&Zhang GY.(2019).Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator.APPLIED SCIENCES-BASEL,9(11),1-17. |
MLA | Liu GJ,et al."Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator".APPLIED SCIENCES-BASEL 9.11(2019):1-17. |
入库方式: OAI收割
来源:沈阳自动化研究所
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