| 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)
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| Department | 机器人学研究室 |
| Conference Name | 14th IEEE International Workshop on Advanced Motion Control, AMC 2016 |
| Conference Date | April 22-24, 2016 |
| Conference Place | Auckland, New zealand |
| Source Publication | 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2016 | |
| Pages | 63-70 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20163202693268 |
| WOS ID | WOS:000390947100010 |
| Contribution Rank | 1 |
| ISSN | 1943-6572 |
| ISBN | 978-1-4799-8464-0 |
| Keyword | Rotor Flying Manipulator Rotor Flying Robot Dynamical Coupling Adaptive Control |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/18839 |
| Collection | 机器人学研究室 |
| Corresponding Author | Yang B(杨斌) |
| Affiliation | 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 |
| Recommended Citation 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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| File Name/Size | DocType | Version | Access | License | ||
| Separated adaptive c（1225KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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