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Modeling and controller design of hydraulic rotorcraft aerial manipulator
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
会议录名称Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码5446-5452
收录类别EI ; CPCI(ISTP)
EI收录号20154401482224
WOS记录号WOS:000375232900112
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17197
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Shenyang Ligong University, Shenyang, China
3.Northeastern University, Shenyang, China
推荐引用方式
GB/T 7714
Lin TY,Li, Yongzhe,Qi JT,et al. Modeling and controller design of hydraulic rotorcraft aerial manipulator[C]. Piscataway, NJ, USA:IEEE,2015:5446-5452.
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