| 悬停状态下旋翼飞行机器人自适应鲁棒控制 |
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| 引用本文： | 丁 力,夏 天,康绍鹏,刘凯磊,王尧尧,刘小峰. 悬停状态下旋翼飞行机器人自适应鲁棒控制[J]. 电子测量与仪器学报, 2021, 35(9): 73-79. DOI: 10.13382/j.jemi.B2104063 |
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| 作者姓名： | 丁 力 夏 天 康绍鹏 刘凯磊 王尧尧 刘小峰 |
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| 作者单位： | 江苏理工学院 机械工程学院 常州 213001;南京航空航天大学 机电学院 南京 216000;河海大学 物联网学院 常州 213001 |
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| 基金项目： | 国家自然科学基金（52005231）、江苏省研究生实践创新计划(SJCX20_1044)、江苏省高等学校大学生创新训练计划项目(202011463001Z)、江苏省自然科学基金项目（BK20170315）、常州市社会发展科技支撑项目（CE20215050）资助 |
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| 摘 要： | 针对加装二自由度绳驱动机械臂的旋翼飞行机器人在悬停条件下的抗干扰控制,提出了一种自适应终端滑模控制策略.将系统分成四旋翼飞行器和机械臂两个子系统,分别采用拉格朗日法与牛顿-欧拉法获得各自的动力学模型.在Lyapunov稳定性框架下设计了旋翼飞行器人的抗干扰轨迹跟踪控制器,并引人自适应策略来估计扰动上界.通过3个仿真算例...
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| 关 键 词： | 旋翼飞行机器人 悬停作业 自适应策略 终端滑模 绳驱动机械臂 |
Adaptive robust control for a rotary-wing flight robot in hovering |
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| Ding Li,Xia Tian,Kang Shaopeng,Liu Kailei,Wang Yaoyao,Liu Xiaofeng. Adaptive robust control for a rotary-wing flight robot in hovering[J]. Journal of Electronic Measurement and Instrument, 2021, 35(9): 73-79. DOI: 10.13382/j.jemi.B2104063 |
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| Authors: | Ding Li Xia Tian Kang Shaopeng Liu Kailei Wang Yaoyao Liu Xiaofeng |
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| Affiliation: | 1. College of Mechanical Engineering, Jiangsu University of Technology;2. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics; 3. College of Internet of Things Academy, Hohai University |
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| Abstract: | This paper proposed an adaptive terminal sliding mode control strategy for disturbance rejection control of a rotary-wing flightrobot equipped with a 2-DOF cable-driven manipulator. The system has been divided into quadrotor subsystem and manipulatorsubsystem. The dynamical model of quadrotor has been obtained by Lagrange method. And the dynamical model of manipulator has beendeduced by Newton-Euler equation. Then, the dynamical model of quadrotor has been simplified in hovering. And the motion of themanipulator which is regarded as perturbed force and moment is added into the dynamical of quadrotor. The effectiveness of the proposedcontroller is tested through three simulation case. The results show that the proposed controller is superior to other controllers in terms oftracking accuracy, robustness and disturbance rejection. The control performances of x and y channels are sensitive to the manipulatormotion. The proposed controller has a good performance for the rotary-wing flight robot in hovering, which has an engineering referencedvalue. |
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| Keywords: | rotary-wing flight robot hovering operation adaptive strategy terminal sliding mode cable-driven manipulator |
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