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题名: Separated adaptive control scheme of a rotor-flying manipulator
作者: 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: 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 63-70
收录类别: EI
ISBN号: 9781479984640
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18839
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Yang B,He YQ,Han JD,et al. Separated adaptive control scheme of a rotor-flying manipulator[C]. 见:14th IEEE International Workshop on Advanced Motion Control, AMC 2016. Auckland, New zealand. April 22-24, 2016.
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