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Dynamics modelling and predictive control for 6-DOF rotorcraft aerial manipulator system
Song DL(宋大雷); Qi JT(齐俊桐)
作者部门机器人学研究室
关键词Rotorcraft Unmanned Aerial Vehicle Ruav Aerial Manipulator Dynamics Modelling Predictive Control Flight Simulation
发表期刊International Journal of Modelling, Identification and Control
ISSN1746-6172
2016
卷号26期号:3页码:227-237
收录类别EI
EI收录号20164803055235
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摘要Rotorcraft aerial manipulator (RAM) is a new concept of aerial robots with arms, and it changes the traditional searching rotorcraft unmanned aerial vehicles (RUAVs) into operating aerial robots. The additional six degree-of-freedom (DOF) manipulator makes RUAV more flexible to accomplish 'touching' tasks. However, the relative force and torque disturbance, which cannot be eliminated completely in the controller, between the 6-DOF manipulator and the aerial robot, makes the operation precision of the end-effector too poor to accomplish the 'touching' missions. In this research, the overall dynamics model is firstly developed based on dynamic disturbance analysis between the RUAV and the joint 6 DOF robotic arm. Based on the proposed model, to compensate for the disturbance from relative dynamics with rotor system's control delay, a predictive controller is designed to minimise the errors of positions and attitudes of the end-effector. At last, different control strategies are compared in simulated insertion tasks, and the simulation results show the effectiveness of the proposed overall dynamic model and the proposed control strategies in precise air-operation.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21254
专题机器人学研究室
通讯作者Song DL(宋大雷)
作者单位Shenyang Institute of Automation Science, State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Song DL,Qi JT. Dynamics modelling and predictive control for 6-DOF rotorcraft aerial manipulator system[J]. International Journal of Modelling, Identification and Control,2016,26(3):227-237.
APA Song DL,&Qi JT.(2016).Dynamics modelling and predictive control for 6-DOF rotorcraft aerial manipulator system.International Journal of Modelling, Identification and Control,26(3),227-237.
MLA Song DL,et al."Dynamics modelling and predictive control for 6-DOF rotorcraft aerial manipulator system".International Journal of Modelling, Identification and Control 26.3(2016):227-237.
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