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Unit Quaternion Based Attitude Control of An Aerial Manipulator

机译：基于单位的空中机械手姿态控制

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摘要

This paper considers an aerial manipulator consisting of a quadcopter and a 2-DoF manipulator. The attitude of the quadcopter, represented by unit quaternion, is expected to track a given time-varying reference. In the modeling of the attitude dynamics of the quadcopter, both the external disturbances and the torque generated by the gravity force of the manipulator are taken into consideration. It turns out that the torque generated by the gravity force of the manipulator can be linearly parameterized and thus the attitude control problem of the quadcopter could be converted into a standard stabilization problem, which can be addressed by the internal model control. The system performance is examined by a numerical example.
机译：本文考虑了由Quadcopter和2-DoF操纵器组成的空中机械手。由单位四元数表示的Quadcopter的态度预计将跟踪给定的时变参考。在Quadcopter的姿态动态的建模中，考虑了由操纵器的重力产生的外部干扰和扭矩。事实证明，由操纵器的重力产生产生的扭矩可以线性地参数化，因此可以将Quadcopter的姿态控制问题转换为标准稳定问题，这可以通过内部模型控制来解决。通过数值示例检查系统性能。

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