| Dynamics modelling and predictive control for 6-DOF rotorcraft aerial manipulator system | |
Song DL(宋大雷) ; Qi JT(齐俊桐)
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| Department | 机器人学研究室 |
| Source Publication | International Journal of Modelling, Identification and Control
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| ISSN | 1746-6172 |
| 2016 | |
| Volume | 26Issue:3Pages:227-237 |
| Indexed By | EI |
| EI Accession number | 20164803055235 |
| Contribution Rank | 1 |
| Keyword | Rotorcraft Unmanned Aerial Vehicle Ruav Aerial Manipulator Dynamics Modelling Predictive Control Flight Simulation |
| Abstract | 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. |
| Language | 英语 |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/21254 |
| Collection | 机器人学研究室 |
| Corresponding Author | Song DL(宋大雷) |
| Affiliation | Shenyang Institute of Automation Science, State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China |
| Recommended Citation 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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