A decentralized approach for the aerial manipulator robust trajectory tracking

被引：1

作者：

Tlatelpa-Osorio, Yarai Elizabeth ^{[1
]}

Rodriguez-Cortes, Hugo ^{[1
]}

Acosta, J. A. ^{[2
]}

机构：

[1] Inst Politecn Nacl, Dept Ingn Elect, Secc Mecatron, Ctr Invest & Estudios Avanzados, Ciudad De Mexico, Mexico

[2] Univ Seville, Dept Ingn Sistemas & Automat, Seville, Spain

来源：

PLOS ONE | 2024年 / 19卷 / 03期

关键词：

IMMERSION;

D O I：

10.1371/journal.pone.0299223

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

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.

引用

页数：32

共 24 条

[1] Accurate control of Aerial Manipulators outdoors. A reliable and self-coordinated nonlinear approach [J].

Acosta, J. A. ;

de Cos, C. R. ;

Ollero, A. .

AEROSPACE SCIENCE AND TECHNOLOGY, 2020, 99

[2]

Acosta JA, 2016, INT CONF UNMAN AIRCR, P1075, DOI 10.1109/ICUAS.2016.7502675

[3]

Acosta JA, 2014, IEEE DECIS CONTR P, P673, DOI 10.1109/CDC.2014.7039459

[4]

[Anonymous], 2014, Mathematical Problems in Engineering

[5] Dynamics and Control of Spacecraft Manipulators with Thrusters and Momentum Exchange Devices [J].

Antonello, Andrea ;

Valverde, Alfredo ;

Tsiotras, Panagiotis .

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2019, 42 (01) :15-29

[6] Immersion of Nonlinear Systems into Higher Order Systems [J].

Aranda-Bricaire, E. ;

Califano, C. ;

Moog, C. H. .

IFAC PAPERSONLINE, 2017, 50 (01) :9480-9484

[7] Invariant codistributions and the feedforward form for discrete-time nonlinear systems [J].

Aranda-Bricaire, E ;

Moog, CH .

SYSTEMS & CONTROL LETTERS, 2004, 52 (02) :113-122

[8] Immersion and invariance: A new tool for stabilization and adaptive control of nonlinear systems [J].

Astolfi, A ;

Ortega, R .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (04) :590-606

[9]

atharva aalok, 2024, Professional Plots

[10]

Chow T.L., 2013, Classical mechanics, V2nd

← 1 2 3 →