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Modeling and control for unmanned helicopter based aerial manipulator
Song DL(宋大雷); Qi JT(齐俊桐)
作者部门机器人学研究室
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
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
会议录名称Proceedings of 2014 International Conference on Modelling, Identification and Control, ICMIC 2014
出版者IEEE
出版地New York
2014
页码259-264
收录类别EI ; CPCI(ISTP)
EI收录号20150900582297
WOS记录号WOS:000380485300046
产权排序1
ISBN号978-0-9567157-4-6
关键词Rua v Aerial Manipulator Dynamics Modeling Predictive Control Flight Simulation
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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15782
专题机器人学研究室
通讯作者Song DL(宋大雷)
作者单位Shenyang Institute of Automation Science, State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China
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Song DL,Qi JT. Modeling and control for unmanned helicopter based aerial manipulator[C]//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. New York:IEEE,2014:259-264.
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