Modeling and control for unmanned helicopter based aerial manipulator
文献类型：会议论文
| 作者 | Song DL(宋大雷) ; Qi JT(齐俊桐)
|
| 出版日期 | 2014 |
| 会议名称 | 6th International Conference on Modelling, Identification and Control, ICMIC 2014 |
| 会议日期 | December 3-5, 2014 |
| 会议地点 | Melbourne, VIC, Australia |
| 关键词 | RUA V Aerial Manipulator Dynamics Modeling Predictive Control Flight Simulation |
| 页码 | 259-264 |
| 通讯作者 | 宋大雷 |
| 中文摘要 | Unmanned Helicopter based Aerial Manipulator (UH-AM) is a new conception of aerial robots with arms, which changes the traditional searching RUAVs into operating aerial robots. The same with traditional robotic arms, the end-effector's control accuracy is also important for precise operation in hovering mode, however, it cannot be achievable easily because of the relative disturbance between UH and AM. In this research, the overall dynamics model is firstly developed. 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 eliminate the errors of position and attitude of the end-effector. Simulation results show its effectiveness in precise air-operation under inner/external disturbance. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE VTS Victorian Chapter; Institute of Electrical and Electronics Engineers (IEEE); International Journal of Computer Applications in Technology; International Journal of Modelling, Identification and Control; Swinburne University of Technology |
| 会议录 | Proceedings of 2014 International Conference on Modelling, Identification and Control, ICMIC 2014
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-0-9567157-4-6 |
| WOS记录号 | WOS:000380485300046 |
| 源URL | [http://ir.sia.cn/handle/173321/15782]  |
| 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 | Song DL,Qi JT. Modeling and control for unmanned helicopter based aerial manipulator[C]. 见:6th International Conference on Modelling, Identification and Control, ICMIC 2014. Melbourne, VIC, Australia. December 3-5, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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