Aerial autonomous catching ball using a nested second order sliding mode control <ce:cross-ref refid='fn1'> <ce:sup loc='post'>*</ce:sup> </ce:cross-ref> <ce:footnote id='fn1'> <ce:label>*</ce:label> <ce:note-para id='npara0001' view='all'>This research was partially supported by Project Conacyt 262931. This work has been sponsored by the French National Networks of Robotics Platforms - ROBOTEX (ANR-10-EQPX-44).</ce:note-para> </ce:footnote>

E. Ibarra-Jimenez; P. Castillo

首页> 外文期刊>IFAC PapersOnLine >Aerial autonomous catching ball using a nested second order sliding mode control * *

This research was partially supported by Project Conacyt 262931. This work has been sponsored by the French National Networks of Robotics Platforms - ROBOTEX (ANR-10-EQPX-44).

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Aerial autonomous catching ball using a nested second order sliding mode control * * This research was partially supported by Project Conacyt 262931. This work has been sponsored by the French National Networks of Robotics Platforms - ROBOTEX (ANR-10-EQPX-44).

机译：使用嵌套二阶滑模控制的空中自主接球 * < ce：footnote id =“ fn1”> * 这项研究得到了Conacyt 262931项目的部分支持。由法国国家机器人平台网络ROBOTEX（ANR-10-EQPX-44）赞助。

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New applications for aerial vehicles are emerging recently. They imply the interaction with the environment with the possibility to modify it. In this paper, a control scheme to catch a ball falling using a quadcopter is conceived. The control goal is to design a controller that ensures the quick convergence in the dynamics of the quadcopter in order to catch the ball before that it touches the ground. The algorithm is based on the sliding mode approach to assure robustness and finite time convergence. The parabolic motion is studied to obtain the ball trajectory and computes the capture limit time. Simulation results verifies the well performance of the controller to catch the ball even in presence of unknown and external disturbances.

机译：航空车辆的新应用近来正在出现。它们暗示了与环境的交互，并有可能对其进行修改。本文提出了一种利用四轴飞行器捕捉落球的控制方案。控制目标是设计一种控制器，以确保四轴飞行器的动力学迅速收敛，以便在球触地之前抓住球。该算法基于滑模方法，以确保鲁棒性和有限的时间收敛性。研究抛物线运动以获得球的轨迹并计算捕获极限时间。仿真结果验证了控制器的良好性能，即使在存在未知和外部干扰的情况下也能接住球。

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《IFAC PapersOnLine》 |2017年第1期|共6页
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E. Ibarra-Jimenez; P. Castillo;
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入库时间 2022-08-18 18:19:57

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Aerial autonomous catching ball using a nested second order sliding mode control * * This research was partially supported by Project Conacyt 262931. This work has been sponsored by the French National Networks of Robotics Platforms - ROBOTEX (ANR-10-EQPX-44).

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