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Modeling and control for unmanned helicopter based aerial manipulator
Song DL(宋大雷); Qi JT(齐俊桐)
Department机器人学研究室
Conference Name6th International Conference on Modelling, Identification and Control, ICMIC 2014
Conference DateDecember 3-5, 2014
Conference PlaceMelbourne, VIC, Australia
Author of SourceIEEE 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
Source PublicationProceedings of 2014 International Conference on Modelling, Identification and Control, ICMIC 2014
PublisherIEEE
Publication PlaceNew York
2014
Pages259-264
Indexed ByEI ; CPCI(ISTP)
EI Accession number20150900582297
WOS IDWOS:000380485300046
Contribution Rank1
ISBN978-0-9567157-4-6
KeywordRua v Aerial Manipulator Dynamics Modeling Predictive Control Flight Simulation
AbstractUnmanned 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15782
Collection机器人学研究室
Corresponding AuthorSong DL(宋大雷)
AffiliationShenyang Institute of Automation Science, State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
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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