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Varying Inertial Parameters Model Based Robust Control for An Aerial Manipulator
Zhang GY(张广玉); He YQ(何玉庆); Gu F(谷丰); Han JD(韩建达); Liu GJ(刘光军)
Department机器人学研究室
Conference Name2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Conference DateDecember 3-7, 2016
Conference PlaceQingdao, China
Source PublicationProceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
PublisherIEEE
Publication PlaceNew York
2016
Pages696-701
Indexed ByEI ; CPCI(ISTP)
EI Accession number20171403534585
WOS IDWOS:000405724600117
Contribution Rank1
ISBN978-1-5090-4363-7
AbstractThe aerial manipulator is a new kind of UAV system composed of an aerial robot and a multi-link manipulator. It enables the traditional aerial robots to perform fine manipulation, and thus has great potential for many real applications. However, one of the most challenging problems of the aerial manipulator system is the high performance steady control. Its difficulties mainly come from the heavy dynamics couplings between the aerial robot and the manipulator, especially when quick relative motion is required. Thus in this paper, the modeling and motion control problem of the aerial manipulator is studied. Firstly, a new modeling scheme is proposed by using the concept of Varying Inertial Parameters (VIP), the main idea of which is to take the influence of coupling on the aerial robot as a group of state dependent inertial parameters, i.e., the Center of Mass (CoM) and inertia matrix of the aerial robot is varying with the relative state variance. Subsequently, based on the VIP model, a feedforward compensation H∞ controller is designed to implement the steady flight of the whole system with relative movement. Finally, simulations are conducted and the feasibility and validity of the new proposed scheme is shown.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19525
Collection机器人学研究室
Corresponding AuthorZhang GY(张广玉)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
3.Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canada
Recommended Citation
GB/T 7714
Zhang GY,He YQ,Gu F,et al. Varying Inertial Parameters Model Based Robust Control for An Aerial Manipulator[C]. New York:IEEE,2016:696-701.
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