SIA OpenIR  > 机器人学研究室
Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model
Zhang GY(张广玉)1,2; He YQ(何玉庆)1,2; Dai B(代波)1,2; Gu F(谷丰)1,2; Liu GJ(刘光军)3
Department机器人学研究室
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2020
Volume67Issue:11Pages:9515-9525
Indexed BySCI ; EI
EI Accession number20203309041472
WOS IDWOS:000552206000045
Contribution Rank1
Funding OrganizationNational Nature Sciences Foundation of ChinaNational Natural Science Foundation of China [61433016, U1608253]
KeywordManipulator dynamics Couplings Vehicle dynamics Unmanned aerial vehicles Force Robustness Aerial manipulator disturbance rejection dynamic modeling unmanned aerial vehicle (UAV) control
Abstract

Aerial manipulator, which is composed of an unmanned aerial vehicle (UAV) and a multilink manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the manipulator makes it difficult to control the aerial manipulator with high performance. In this article, system modeling and control problem of the aerial manipulator are studied. First, an UAV dynamic model is proposed with consideration of the dynamic coupling from an attached manipulator, which is treated as disturbance for the UAV. In the dynamic model, the disturbance is affected by the variable inertia parameters of the aerial manipulator system. Then, based on the proposed dynamic model, a disturbance compensation robust H-infinity controller is designed to stabilize flight of the UAV while the manipulator is in operation. Finally, experiments are conducted and the experimental results demonstrate the feasibility and validity of the proposed control scheme.

Language英语
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS KeywordSYSTEM
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
Funding ProjectNational Nature Sciences Foundation of China[61433016] ; National Nature Sciences Foundation of China[U1608253]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27386
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
5.Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
6.Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
Recommended Citation
GB/T 7714
Zhang GY,He YQ,Dai B,et al. Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(11):9515-9525.
APA Zhang GY,He YQ,Dai B,Gu F,&Liu GJ.(2020).Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(11),9515-9525.
MLA Zhang GY,et al."Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.11(2020):9515-9525.
Files in This Item:
File Name/Size DocType Version Access License
Robust Control of an(5846KB)期刊论文出版稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhang GY(张广玉)]'s Articles
[He YQ(何玉庆)]'s Articles
[Dai B(代波)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhang GY(张广玉)]'s Articles
[He YQ(何玉庆)]'s Articles
[Dai B(代波)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhang GY(张广玉)]'s Articles
[He YQ(何玉庆)]'s Articles
[Dai B(代波)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Robust Control of an Aerial Manipulator Based on a Variable Inertia Parameters Model.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.