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一种用于空中机械臂的鲁棒轨迹跟踪的去中心化方法。

A decentralized approach for the aerial manipulator robust trajectory tracking.

机构信息

Sección de Mecatrónica, Deparatamento de Ingeniería Eléctrica del Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Ciudad de México, México.

Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Sevilla, Spain.

出版信息

PLoS One. 2024 Mar 7;19(3):e0299223. doi: 10.1371/journal.pone.0299223. eCollection 2024.

DOI:10.1371/journal.pone.0299223
PMID:38452020
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10919597/
Abstract

This paper introduces a new decentralized control strategy for an unmanned aerial manipulator (UAM) constrained to the vertical plane. The control strategy comprises two loops: the first compensates for the aerial vehicle's impact on the manipulator; and the second one implements independent controllers for the aerial vehicle and the manipulator. The controller for the aerial vehicle includes an estimator to compensate for the dynamic influence of the manipulator, even if it is affected by external wind-gust disturbances. The manipulator has two revolute joints; however, it is modeled as an dynamically equivalent manipulator, with one revolute and one prismatic joint. The proposed control strategy's performance is evaluated using a simulator that includes the vehicle's aerodynamics and the manipulator's contact force and moment.

摘要

本文提出了一种用于约束在垂直平面内的无人机操纵器（UAM）的新型分散控制策略。该控制策略包括两个回路：第一个回路补偿飞行器对操纵器的影响；第二个回路为飞行器和操纵器实现独立控制器。飞行器的控制器包括一个估计器，即使在受到外部阵风干扰的情况下，也可以补偿操纵器的动态影响。操纵器有两个转动关节；但是，它被建模为一个具有一个转动关节和一个棱柱关节的动态等效操纵器。该控制策略的性能通过一个包括飞行器空气动力学和操纵器接触力和力矩的模拟器进行评估。

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本文引用的文献

1
Adaptive output control of a mobile manipulator hanging from a quadcopter unmanned vehicle.四旋翼无人机悬挂式移动机械臂自适应输出控制。
ISA Trans. 2019 Nov;94:200-217. doi: 10.1016/j.isatra.2019.04.002. Epub 2019 Apr 24.