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author:

Liang, Jiacheng (Liang, Jiacheng.) [1] | Chen, Yanjie (Chen, Yanjie.) [2] | Lai, Ningbin (Lai, Ningbin.) [3] | He, Bingwei (He, Bingwei.) [4]

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Abstract:

This paper aims at the stable motion control problem of the unmanned aerial manipulator (UAM) with internal interactions and external environment disturbances, and proposes a robust observer-based trajectory tracking control framework. Considering the large-dimensional nonlinearity and underactuated of UAM dynamics, a separate control scheme is adopted, including a geometric controller for quadrotor UAV and prescribed performance control (PPC) method for onboard active manipulator (OAM). In particular, an observer-based geometric control scheme is developed for the position and attitude tracking of the quadrotor UAV to ensure steady flight, where the quadrotor UAV attitude is represented by the rotation matrix to eliminate singularities or ambiguities. Subsequently, an observer-based PPC method is presented for the OAM to guarantee the prescribed transient and steady-state performance responses. Finally, the simulation comparisons and experimental study validate the effectiveness and performances of the proposed control framework. © 2023, ICROS, KIEE and Springer.

Keyword:

Aircraft control Aircraft detection Antennas Manipulators Navigation Unmanned aerial vehicles (UAV)

Community:

  • [ 1 ] [Liang, Jiacheng]College of Electrical and Information Engineering, Hunan University, Changsha; 410082, China
  • [ 2 ] [Liang, Jiacheng]National Engineering Research Center of Robot Visual Perception and Control Technology, Changsha; 410082, China
  • [ 3 ] [Chen, Yanjie]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou; 350108, China
  • [ 4 ] [Chen, Yanjie]Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai; 200240, China
  • [ 5 ] [Lai, Ningbin]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou; 350108, China
  • [ 6 ] [He, Bingwei]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou; 350108, China

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Source :

International Journal of Control, Automation and Systems

ISSN: 1598-6446

Year: 2023

Issue: 2

Volume: 21

Page: 616-629

2 . 5

JCR@2023

2 . 5 0 0

JCR@2023

ESI HC Threshold:35

JCR Journal Grade:2

CAS Journal Grade:3

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count: 5

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 5

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