Robust adaptive control for unmanned aerial manipulator in dynamic gliding grasping

被引：0
|
作者：
Zhang Z.-G. [1 ]
Chen Y.-J. [1 ,3 ]
Zhan W.-W. [1 ]
He B.-W. [1 ]
Lin L.-X. [1 ]
Wang Y.-N. [2 ,3 ]
机构：
[1] School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou
[2] College of Electrical and Information Engineering, Hunan University, Changsha
[3] National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2021年 / 38卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Interval matrix; Robust adaptive control; Uncertainties; Unmanned aerial manipulator;
D O I：
10.7641/CTA.2020.00326
中图分类号：
学科分类号：
摘要：
Unmanned aerial manipulator is a new kind of robot systems that consists of a multi-joint manipulator and flying robot. It can exert a positive influence on the environments, as well as with a complex dynamics properties. Aiming at the system control problems of friction, contact force in dynamic gliding grasping and inertia tensor changing in flying, this paper proposed an integral robust adaptive control strategy for the unmanned aerial manipulator. At first, friction and contact force are introduced in the dynamic modeling, and the inertia tensor is considered as bounded variables to improve accuracy of modeling and grasping. Then, in order to reduce impact of disturbances caused by dynamic gliding grasping on flight control performance, an anti-disturbances robust controller is designed based on interval matrix method to compensate the changes of the inertia tensor. Subsequently, the stability analysis is provided through the Lyapunov stability theory. Finally, the effectiveness and superiority of the proposed method are verified in simulation comparisons. © 2021, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：775 / 783
页数：8
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