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题名: Modeling and controller design of hydraulic rotorcraft aerial manipulator
作者: Lin TY(林天宇); Li, Yongzhe; Qi JT(齐俊桐); Meng XD(孟祥冬); Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 27th Chinese Control and Decision Conference, CCDC 2015
会议日期: May 23-25, 2015
会议地点: Qingdao, China
会议录: Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 5446-5452
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-7016-2
关键词: RAM ; Hydraulic manipulator ; Modeling ; LQR controller ; Robust controller
摘要: Traditional Rotary-wing Unmanned Aerial Vehicles (R-UAV) are mostly utilized to conduct surveillance. Installing a mechanical manipulator on R-UAV will result a Rotorcraft Aerial Manipulator (RAM) system. A RAM system enlarges the R-UAV's application scope. The RAM system proposed by this research is composed of R-UAV and a miniature hydraulic manipulator. With the combined merits of the two systems, this RAM system has enhanced flexibility and is capable of fulfilling more tasks. The hovering mode dynamics model of the RAM is established referring to the working characteristics of the hydraulic manipulator. An LQR controller is used to control the planar motion of the hydraulic manipulator. The motion of the manipulator will exert coupled force and moment influence on the RAM system. This coupled influence is taken as a disturbance to the R-UAV system which is restrained by a robust controller. Finally, through simulation, the effectiveness of the established dynamics model and the proposed control strategy is verified.
语种: 英语
产权排序: 1
WOS记录号: WOS:000375232900112
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17197
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Lin TY,Li, Yongzhe,Qi JT,et al. Modeling and controller design of hydraulic rotorcraft aerial manipulator[C]. 见:27th Chinese Control and Decision Conference, CCDC 2015. Qingdao, China. May 23-25, 2015.
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