Active disturbance rejection control of a novel multi-rotor aerial robot with a manipulator

被引：0

作者：

Xu C.-L. ^{[1
]}

Yang Z. ^{[1
]}

Jiang Y.-H. ^{[2
]}

Xu H. ^{[1
]}

Zhou D.-S. ^{[1
]}

Liao L.-W. ^{[1
]}

Zhang Q.-Y. ^{[3
]}

机构：

[1] College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing

[2] Research Institute of UAV, Nanjing University of Aeronautics and Astronautics, Nanjing

[3] Electric Power Research Institute of Guizhou Power Grid Co., Ltd, Guiyang

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2022年 / 39卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Active disturbance rejection control; Aerial robot; Disturbance observer; Double closed-loop control; Modeling of dynamics; Nonplanar rotor configuration; Robot control;

D O I：

10.7641/CTA.2021.00555

中图分类号：

学科分类号：

摘要：

In regard to the high demand for the stability, translational movement ability and the anti-disturbance ability of the aerial robot used for cleaning of tree barriers along power transmission line corridors, and considering the shortcomings of the traditional multi-rotor aircraft structure with planar rotor configuration which has to move with attitude coordination, and therefore with the inspiration of the design idea of full-drive multi-rotor aircraft, this paper proposes a non-planar multi-rotor aerial robot that can implement front and rear translational motion without attitude coordination. Firstly, the dynamics and kinematics models of position and attitude are established for the new structure aerial robot. Then, the position and attitude tracking control law of the robot are designed based on the active disturbance rejection control (ADRC) technology. Lastly, the results of multiple sets of simulations and experiments show that the rotor aerial robot of the nonplanar configuration designed in this paper has excellent translational movement and anti-disturbance ability under the disturbances of contact force during the operation. © 2022, Editorial Department of Control Theory & Applications. All right reserved.

引用

页码：581 / 592

页数：11

共 26 条

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