Adaptive robust control for a rotary-wing flight robot in hovering
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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,并引入自适应策略来估计扰动上界。 通过 3 个仿真算例验证了 所设计控制器的有效性,结果表明,与其他控制器相比,本控制器具有较高的跟踪精度、较强的鲁棒性以及较好的抗干扰能力; 机械臂质量的变化主要影响 x 通道和 y 通道的控制性能;本控制器基本能满足旋翼飞行机器人悬停作业的工作需求,具有一定 的工程参考意义。
Abstract:
This paper proposed an adaptive terminal sliding mode control strategy for disturbance rejection control of a rotary-wing flight robot equipped with a 2-DOF cable-driven manipulator. The system has been divided into quadrotor subsystem and manipulator subsystem. The dynamical model of quadrotor has been obtained by Lagrange method. And the dynamical model of manipulator has been deduced by Newton-Euler equation. Then, the dynamical model of quadrotor has been simplified in hovering. And the motion of the manipulator which is regarded as perturbed force and moment is added into the dynamical of quadrotor. The effectiveness of the proposed controller is tested through three simulation case. The results show that the proposed controller is superior to other controllers in terms of tracking accuracy, robustness and disturbance rejection. The control performances of x and y channels are sensitive to the manipulator motion. The proposed controller has a good performance for the rotary-wing flight robot in hovering, which has an engineering referenced value.
