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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)
Department机器人学研究室
Conference Name27th Chinese Control and Decision Conference, CCDC 2015
Conference DateMay 23-25, 2015
Conference PlaceQingdao, China
Source PublicationProceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages5446-5452
Indexed ByEI ; CPCI(ISTP)
EI Accession number20154401482224
WOS IDWOS:000375232900112
Contribution Rank1
ISBN978-1-4799-7016-2
KeywordRam Hydraulic Manipulator Modeling Lqr Controller Robust Controller
AbstractTraditional 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
Identifierhttp://ir.sia.cn/handle/173321/17197
Collection机器人学研究室
Affiliation1.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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