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Separated adaptive control scheme of a rotor-flying manipulator
Yang B(杨斌); He YQ(何玉庆); Han JD(韩建达); Liu GJ(刘光军)
作者部门机器人学研究室
会议名称14th IEEE International Workshop on Advanced Motion Control, AMC 2016
会议日期April 22-24, 2016
会议地点Auckland, New zealand
会议录名称2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码63-70
收录类别EI ; CPCI(ISTP)
EI收录号20163202693268
WOS记录号WOS:000390947100010
产权排序1
ISSN号1943-6572
ISBN号978-1-4799-8464-0
关键词Rotor Flying Manipulator Rotor Flying Robot Dynamical Coupling Adaptive Control
摘要Rotor flying manipulator (RFM), a new kind of mobile robot system being composed of a rotor flying robot (RFR) and a (several) manipulator(s), has absorbed great attentions in recent years because it enables a RFR to complete active tasks such as mastering and transporting objects. However, steady control of the RFM during both maneuvering and operating is of great difficulty due to the heavy force/moment coupling between the RFR and the manipulator, which introduce high nonlinearity and complexity to the system model. In this paper, a new control scheme of the RFM is proposed to ensure the steady flight. Firstly, the nonlinear mathematical model is derived, which is followed by the coupling analysis to show how the movement of the manipulator influences the whole system's behavior. Subsequently, based on these analyses, a new control scheme is designed with obtainable coupling force/moment. The basic idea of the controller is to take the coupling as a disturbance and separately control the RFR and the manipulator, and the stability is ensured to properly design the controller parameters. Finally, simulations are conducted and the results show the feasibility and validity of the proposed controller.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18839
专题机器人学研究室
通讯作者Yang B(杨斌)
作者单位1.University of Chinese Academy of Sciences, Beijing, 100049, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China
3.Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B2K3, Canada
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GB/T 7714
Yang B,He YQ,Han JD,et al. Separated adaptive control scheme of a rotor-flying manipulator[C]. Piscataway, NJ, USA:IEEE,2016:63-70.
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