...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Aerospace science and technology >Nonlinear control of aerial manipulation systems
【24h】

Nonlinear control of aerial manipulation systems

机译：空中操纵系统的非线性控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents four effective control algorithms to overcome challenges in controlling Aerial Manipulation Systems (AMSs). Interaction with the environment, nonlinear couplings, and structural and non-structural uncertainties are some issues that make the AMS controller difficult to develop and implement. Because of the complexity in the control design process, many research studies employed simplified AMS dynamics in the design of the controller. In this study, all the proposed control algorithms, with the exception of the hierarchical LQR method, are designed considering complete dynamics of the system without any need for simplification. Proposed control methods include (i) inverse dynamic, (ii) hierarchical LQR, (iii) sliding mode, and (iv) semi-optimal nonlinear control, which show appropriate behavior in the presence of some of the above-mentioned challenges. In order to assess the effectiveness of the control methods, coupled dynamics of a quadcopter endowed with a robotic manipulator is modeled. These controllers are compared to identify their effectiveness in simultaneous control of the quadcopter and its manipulator in the context of control accuracy and control effort. Additionally, sensitivity of the proposed approaches to an increase in the uncertainty levels are determined. (C) 2020 Elsevier Masson SAS. All rights reserved.
机译：本文介绍了四种有效的控制算法，以克服控制空中操纵系统（AMSS）的挑战。与环境，非线性耦合和结构和非结构性不确定性的交互是使AMS控制器难以开发和实施的一些问题。由于控制设计过程中的复杂性，许多研究研究在控制器设计中使用了简化的AMS动态。在本研究中，所有提出的控制算法除了分层LQR方法外，考虑到系统的完整动态，无需简化。所提出的控制方法包括（i）逆动态，（ii）分层LQR，（III）滑动模式，（IV）半最优非线性控制，其在存在一些上述挑战时显示出适当的行为。为了评估控制方法的有效性，建模了赋予机器人操纵器的Quadcopter的耦合动力学。比较这些控制器，以确定其在控制精度和控制工作的背景下同时控制Quadcopter及其操纵器的有效性。另外，确定所提出的方法对不确定性水平的增加的敏感性。 （c）2020 Elsevier Masson SAS。版权所有。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号