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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)
Department机器人学研究室
Conference Name14th IEEE International Workshop on Advanced Motion Control, AMC 2016
Conference DateApril 22-24, 2016
Conference PlaceAuckland, New zealand
Source Publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages63-70
Indexed ByEI ; CPCI(ISTP)
EI Accession number20163202693268
WOS IDWOS:000390947100010
Contribution Rank1
ISSN1943-6572
ISBN978-1-4799-8464-0
KeywordRotor Flying Manipulator Rotor Flying Robot Dynamical Coupling Adaptive Control
AbstractRotor 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
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18839
Collection机器人学研究室
Corresponding AuthorYang B(杨斌)
Affiliation1.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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