Zhan Weiwei, Chen Yanjie, He Bingwei, Miao Zhiqiang, Zhang Hui, Wang Yaonan
Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China.
Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China; National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha, 410082, China.
ISA Trans. 2022 Sep;128(Pt B):367-379. doi: 10.1016/j.isatra.2021.11.006. Epub 2021 Nov 18.
In this paper, a robust control strategy with a cascade structure is designed for the underactuated unmanned aerial manipulator (UAM) to perform favorable trajectory tracking, in the presence of model uncertainties and time-varying external disturbances (e.g. wind drag). In the position loop, a geometric distance is adopted as the criterion for the thrust design. Besides, both the model uncertainties and external disturbances are compensated by employing a robust term. In the attitude loop, the prescribed performance guarantees are enforced in the controller design to standardize transient performance on attitude errors. In particular, just relying on the necessary feedback states, an auxiliary system, the adaptive control technique, and the disturbance observer are respectively designed to estimate the model uncertainties and external disturbances. Through the Lyapunov stability theory analysis, the proposed approach based on a geometric distance can effectively track the desired trajectory. The results of the comparative simulations study demonstrate the effectiveness and advantages of the proposed approach.
本文针对欠驱动无人空中机械手（UAM）设计了一种具有级联结构的鲁棒控制策略，使其在存在模型不确定性和时变外部干扰（如风阻）的情况下能够实现良好的轨迹跟踪。在位置环中，采用几何距离作为推力设计的准则。此外，通过引入鲁棒项来补偿模型不确定性和外部干扰。在姿态环中，在控制器设计中施加规定性能保证，以规范姿态误差的瞬态性能。特别地，仅依靠必要的反馈状态，分别设计了一个辅助系统、自适应控制技术和干扰观测器来估计模型不确定性和外部干扰。通过李雅普诺夫稳定性理论分析，基于几何距离提出的方法能够有效地跟踪期望轨迹。对比仿真研究结果验证了所提方法的有效性和优势。
