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Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator
Zhang GY(张广玉)1,2,3; He YQ(何玉庆)1,2,4; Dai B(代波)1,2,3; Gu F(谷丰)1,2; Yang LY(杨丽英)1,2; Han JD(韩建达)1; Liu GJ(刘光军)5
Department机器人学研究室
Source PublicationAPPLIED SCIENCES-BASEL
ISSN2076-3417
2019
Volume9Issue:11Pages:1-17
Indexed BySCI
WOS IDWOS:000472641200058
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China ; National Nature Sciences Foundation of China ; Science and Technology Planning Project of Guangdong Province
Keywordaerial robot aerial manipulator robot control disturbance rejection robust control UAV
AbstractAn aerial manipulator is a new kind of flying robot system composed of a rotorcraft unmanned aerial vehicle (UAV) and a multi-link robotic arm. It gives the flying robot the capacity to complete manipulation tasks. Steady flight is essential for an aerial manipulator to complete manipulation tasks. This paper focuses on the steady flight control performance of the aerial manipulator. A separate control strategy is used in the aerial manipulator system, in which the UAV and the manipulator are controlled separately. In order to complete tasks in environments with strong wind disturbance, an acceleration feedback enhanced robust H controller was designed for the UAV in the aerial manipulator. The controller is based on the hierarchical inner-outer loop control structure of the UAV and composed of a robust H controller and acceleration feedback enhanced term, which is used to compensate for the wind disturbance. Experimental results of aerial grasping of a target object show that the controller can suppress the wind disturbance effectively, and make the aerial manipulator hover steadily with sufficient accuracy to complete aerial manipulation tasks in strong wind.
Language英语
WOS SubjectChemistry, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied
WOS Research AreaChemistry ; Materials Science ; Physics
Funding ProjectNational Key Research and Development Program of China[2017YFC1405401] ; National Nature Sciences Foundation of China[61433016] ; National Nature Sciences Foundation of China[U1608253] ; Science and Technology Planning Project of Guangdong Province[2017B010116002] ; National Key Research and Development Program of China[2017YFC1405401] ; National Nature Sciences Foundation of China[61433016] ; National Nature Sciences Foundation of China[U1608253] ; Science and Technology Planning Project of Guangdong Province[2017B010116002]
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Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25322
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China
2.Institute for Robotics and Intelligent Manufacturing, CAS, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Shenyang Institute of Automation (Guangzhou), CAS, Guangzhou 511458, China
5.Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
Recommended Citation
GB/T 7714
Zhang GY,He YQ,Dai B,et al. Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator[J]. APPLIED SCIENCES-BASEL,2019,9(11):1-17.
APA Zhang GY.,He YQ.,Dai B.,Gu F.,Yang LY.,...&Liu GJ.(2019).Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator.APPLIED SCIENCES-BASEL,9(11),1-17.
MLA Zhang GY,et al."Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator".APPLIED SCIENCES-BASEL 9.11(2019):1-17.
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