| Varying Inertial Parameters Model Based Robust Control for An Aerial Manipulator | |
Zhang GY(张广玉) ; He YQ(何玉庆); Gu F(谷丰); Han JD(韩建达); Liu GJ(刘光军)
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| Department | 机器人学研究室 |
| Conference Name | 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) |
| Conference Date | December 3-7, 2016 |
| Conference Place | Qingdao, China |
| Source Publication | Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) |
| Publisher | IEEE |
| Publication Place | New York |
| 2016 | |
| Pages | 696-701 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20171403534585 |
| WOS ID | WOS:000405724600117 |
| Contribution Rank | 1 |
| ISBN | 978-1-5090-4363-7 |
| Abstract | The aerial manipulator is a new kind of UAV system composed of an aerial robot and a multi-link manipulator. It enables the traditional aerial robots to perform fine manipulation, and thus has great potential for many real applications. However, one of the most challenging problems of the aerial manipulator system is the high performance steady control. Its difficulties mainly come from the heavy dynamics couplings between the aerial robot and the manipulator, especially when quick relative motion is required. Thus in this paper, the modeling and motion control problem of the aerial manipulator is studied. Firstly, a new modeling scheme is proposed by using the concept of Varying Inertial Parameters (VIP), the main idea of which is to take the influence of coupling on the aerial robot as a group of state dependent inertial parameters, i.e., the Center of Mass (CoM) and inertia matrix of the aerial robot is varying with the relative state variance. Subsequently, based on the VIP model, a feedforward compensation H∞ controller is designed to implement the steady flight of the whole system with relative movement. Finally, simulations are conducted and the feasibility and validity of the new proposed scheme is shown. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/19525 |
| Collection | 机器人学研究室 |
| Corresponding Author | Zhang GY(张广玉) |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China 2.University of Chinese Academy of Sciences, Beijing, 100049, China 3.Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canada |
| Recommended Citation GB/T 7714 | Zhang GY,He YQ,Gu F,et al. Varying Inertial Parameters Model Based Robust Control for An Aerial Manipulator[C]. New York:IEEE,2016:696-701. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Varying Inertial Par（413KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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