| 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)
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| Department | 机器人学研究室 |
| Conference Name | 27th Chinese Control and Decision Conference, CCDC 2015 |
| Conference Date | May 23-25, 2015 |
| Conference Place | Qingdao, China |
| Source Publication | Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015 |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2015 | |
| Pages | 5446-5452 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20154401482224 |
| WOS ID | WOS:000375232900112 |
| Contribution Rank | 1 |
| ISBN | 978-1-4799-7016-2 |
| Keyword | Ram Hydraulic Manipulator Modeling Lqr Controller Robust Controller |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/17197 |
| Collection | 机器人学研究室 |
| Affiliation | 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 |
| Recommended Citation 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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| File Name/Size | DocType | Version | Access | License | ||
| Modeling and control（261KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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