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学者姓名：陈彦杰
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Abstract ：
In this article, an robust adaptive stiffness visual servoing control method is proposed to guarantee a compliant physical interaction with a prescribed performance of the unmanned aerial manipulator (UAM) in the presence of disturbances and modeling uncertainties. First, to address the slow response speed of visual servoing control when image features change, a visual servo position controller with prescribed performance is adopted to enhance the convergence speed through the gradually convergent error boundary. Second, considering the influence of disturbances and modeling uncertainties caused by the flight platform on the admittance accuracy during physical interaction, an robust adaptive stiffness physical interaction controller is introduced, generating stable admittance command image features to ensure a reliable interaction force. Finally, physical comparative and real-world experimental studies are conducted to validate the feasibility and performance of the proposed method. The results demonstrate that the UAM under control is capable of exhibiting specified performance during contact operations, allowing smooth adaptation to changes in contact forces.
Keyword ：
Adaptive stiffness Adaptive stiffness admittance control admittance control Cameras Cameras Force Force Manipulators Manipulators prescribed performance prescribed performance Target tracking Target tracking Uncertainty Uncertainty unmanned aerial manipulator (UAM) unmanned aerial manipulator (UAM) Visualization Visualization visual servo visual servo Visual servoing Visual servoing
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| GB/T 7714 | Chen, Yanjie , Lan, Limin , Liu, Xincheng et al. Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) : 11028-11038 . |
| MLA | Chen, Yanjie et al. "Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71 . 9 (2024) : 11028-11038 . |
| APA | Chen, Yanjie , Lan, Limin , Liu, Xincheng , Zeng, Guohang , Shang, Changjing , Miao, Zhiqiang et al. Adaptive Stiffness Visual Servoing for Unmanned Aerial Manipulators With Prescribed Performance . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) , 11028-11038 . |
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This article aims to investigate the research achievements related to aerial robots with physical interaction. Various morphologies of aerial physical interaction (APhI) robot prototypes with fixed wing, flapping wing, single main rotor, conventional underactuated multirotor, fully actuated multirotor, even deformed multirotor, and multiple platforms are reviewed for different APhI tasks associated with momentary, loose, and strong interaction coupling. This review also covers APhI robot rigid dynamics and robot-environment coupled interaction dynamics modeling methods, interaction wrench measurement/estimation, decoupled and coupled control, active aerial interaction control, and task-constrained planning approaches. Finally, future development directions and prospects are initially anticipated for aerial robots with physical interaction. Note to Practitioners-Aerial physical interaction (APhI) has been a hot topic in the field of aerial robots in recent years, which is a reflection of the advanced capabilities of aerial robots. However, APhI robots face challenges such as difficulty in flight stability and weak adaptability to dynamic environments while exerting active influence on environments. Under this background, this review aims to offer a reference for researchers and practitioners engaged in the related field from the aspects of system design, modeling, control, and task-constrained planning, which hopes to help them apply APhI robots to polar scientific expeditions, complex environment sampling, infrastructure inspection and maintenance, and other application areas. Further, this review also highlights the design idea of rigid-soft integrated APhI robots from the perspective of design-mechanism-performance to enhance interaction stability and safety.
Keyword ：
active interaction control active interaction control Aerial robots with physical interaction Aerial robots with physical interaction Autonomous aerial vehicles Autonomous aerial vehicles coupled modeling coupled modeling Couplings Couplings Propellers Propellers prototype prototype Reviews Reviews Robots Robots Rotors Rotors Task analysis Task analysis
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| GB/T 7714 | Zhong, Hang , Liang, Jiacheng , Chen, Yanjie et al. Prototype, Modeling, and Control of Aerial Robots With Physical Interaction: A Review [J]. | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2024 . |
| MLA | Zhong, Hang et al. "Prototype, Modeling, and Control of Aerial Robots With Physical Interaction: A Review" . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2024) . |
| APA | Zhong, Hang , Liang, Jiacheng , Chen, Yanjie , Zhang, Hui , Mao, Jianxu , Wang, Yaonan . Prototype, Modeling, and Control of Aerial Robots With Physical Interaction: A Review . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2024 . |
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This article proposes a reference optimization-based compliant control framework for aerial pipeline inspection using a hexacopter with a robotic contact device. The system dynamics is modeled, and the aerial interaction performance is quantified by a cost function, which is regulated by the trajectory tracking error and the interaction force. Then, the iteration-based reference learning scheme is introduced to minimize the cost function and realize the optimal interaction performance without the knowledge of the contact environment. Next, a command filter-based adaptive backstepping trajectory tracking controller is designed to avoid the complexity explosion problem as well as implement stable and accurate tracking performance under external wrenches. Simulation studies and real-world experiments illustrate the feasibility of the proposed framework and provide promising results.
Keyword ：
Aerial contact inspection Aerial contact inspection command filter-based adaptive backstepping control command filter-based adaptive backstepping control optimization-based compliant interaction control framework optimization-based compliant interaction control framework reference learning reference learning
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| GB/T 7714 | Liang, Jiacheng , Zhong, Hang , Wang, Yaonan et al. Reference Optimization-Based Compliant Control for Aerial Pipeline Inspection Using a Hexacopter With a Robotic Contact Device [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
| MLA | Liang, Jiacheng et al. "Reference Optimization-Based Compliant Control for Aerial Pipeline Inspection Using a Hexacopter With a Robotic Contact Device" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024) . |
| APA | Liang, Jiacheng , Zhong, Hang , Wang, Yaonan , Chen, Yanjie , Mao, Jianxu , Wang, Wei et al. Reference Optimization-Based Compliant Control for Aerial Pipeline Inspection Using a Hexacopter With a Robotic Contact Device . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
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Aerial transportation technology is the lifeline of air disaster rescue. In this article, a robust adaptive tracking control scheme using backstepping sliding mode techniques is proposed for a quadrotor-based aerial transportation system with a cable-suspended payload in disaster rescue, where the payload is ensured to be driven to predefined trajectories in the presence of strong coupling, uncertainties, and external disturbances. The quadrotor and the payload are modeled as a rigid body and a point mass, respectively, and the two coupling terms between the virtual input of the payload position loop and the payload attitude error as well as between the input force and the quadrotor attitude error are analyzed owing to the underactuated of the quadrotor-based transportation system. Then, adaptive backstepping sliding mode control strategies are designed for the position and swing dynamics of the payload to guarantee payload trajectory tracking, and an observer-based geometric attitude control method is presented for the quadrotor attitude dynamics to ensure the global attitude stability of the system, where prior information about disturbances is not required. The closed-loop stability of the whole system is strictly proven. Finally, real-world experiments are conducted to verify the feasibility and robustness of the proposed control scheme. Note to Practitioners-The motivation of this article is to investigate a robust and adaptive control tracking scheme for aerial transportation systems with a cable-suspended payload in disaster rescue. In most of the existing aerial transportation control schemes with a cable-suspended payload, the payload is driven to follow a desired trajectory while only considering the coupling effect between the aerial platform and the payload. However, in practical disaster rescue applications, the aerial transportation system is inevitably affected by strong coupling, uncertainties, and external disturbances. Meanwhile, to the authors' best knowledge, there exist few studies that investigate payload following issues while considering strong coupling, uncertainties, and external disturbances simultaneously. Therefore, this article proposes a robust and adaptive tracking control scheme using backstepping sliding mode techniques for a quadrotor-based aerial transportation system with a cable-suspended payload to ensure the stable and accurate payload following control under strong coupling, uncertainties, and external disturbances, where prior information about disturbances is not required under the proposed scheme. The closed-loop stability of the whole system is strictly and mathematically analyzed as well as real-world experiments provide promising results. Moreover, the proposed scheme provides a more realistic setup for autonomous aerial transportation with cable-suspended supplies in disaster rescue.
Keyword ：
Aerial transportation system Aerial transportation system cable-suspended payload cable-suspended payload Couplings Couplings Payloads Payloads Quadrotors Quadrotors Robots Robots robust and adaptive control robust and adaptive control strong coupling strong coupling Trajectory Trajectory Transportation Transportation uncertainties and external disturbances uncertainties and external disturbances Uncertainty Uncertainty
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| GB/T 7714 | Liang, Jiacheng , Wang, Yaonan , Zhong, Hang et al. Robust Adaptive Tracking Control for Aerial Transporting a Cable-Suspended Payload Using Backstepping Sliding Mode Techniques [J]. | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2024 . |
| MLA | Liang, Jiacheng et al. "Robust Adaptive Tracking Control for Aerial Transporting a Cable-Suspended Payload Using Backstepping Sliding Mode Techniques" . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2024) . |
| APA | Liang, Jiacheng , Wang, Yaonan , Zhong, Hang , Chen, Yanjie , Li, Hongwen , Hua, Hean et al. Robust Adaptive Tracking Control for Aerial Transporting a Cable-Suspended Payload Using Backstepping Sliding Mode Techniques . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2024 . |
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The motion planning of robots faces formidable challenges in restricted environments, particularly in the aspects of rapidly searching feasible solutions and converging toward optimal solutions. This article proposes workspace-guided informed tree (WGIT*) to improve planning efficiency and ensure high-quality solutions in restricted environments. Specifically, WGIT* preprocesses the workspace by constructing a hierarchical structure to obtain critical restricted regions and connectivity information sequentially. The refined workspace information guides the sampling and exploration of WGIT*, increasing the sample density in restricted areas and prioritizing the search tree exploration in promising directions, respectively. Furthermore, WGIT* utilizes gradually enriched configuration space information as feedback to rectify the guidance from the workspace and balance the information of the two spaces, which leads to efficient convergence toward the optimal solution. The theoretical analysis highlights the valuable properties of the proposed WGIT*. Finally, a series of simulations and experiments verify the ability of WGIT* to quickly find initial solutions and converge toward optimal solutions.
Keyword ：
Motion planning Motion planning restricted environments restricted environments workspace-guided exploration workspace-guided exploration workspace-guided sampling workspace-guided sampling
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| GB/T 7714 | Zhang, Zhixing , Chen, Yanjie , Han, Feng et al. WGIT*: Workspace-Guided Informed Tree for Motion Planning in Restricted Environments [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
| MLA | Zhang, Zhixing et al. "WGIT*: Workspace-Guided Informed Tree for Motion Planning in Restricted Environments" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024) . |
| APA | Zhang, Zhixing , Chen, Yanjie , Han, Feng , Fan, Junwei , Yu, Hongshan , Zhang, Hui et al. WGIT*: Workspace-Guided Informed Tree for Motion Planning in Restricted Environments . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
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This research paper addresses the formation control problem in a swarm of quadrotor unmanned aerial vehicles (UAVs) over directed interaction topologies, with the primary objective of achieving persistent motion based on bearing measurements. A novel bearing-only formation controller is proposed, eliminating the need for relative position or linear velocity measurements between quadrotors. Specifically, a distributed hierarchical formation control scheme is adopted for the quadrotors. This scheme consists of an outer-loop translation controller designed for target formations using only bearing vector measurements, as well as an inner-loop attitude controller for precise attitude adjustments. To overcome the absence of bearing rate measurement in the translational controller, a filter is introduced to estimate it, effectively compensating for the lack of linear velocity measurement. Additionally, a differentiator is employed to estimate the high-order control input of the translational dynamics, enabling convenient derivation of the desired angular velocity and its derivatives required for the torque controller. The stability analysis of the underactuated systems of multi-UAVs under directed graphs is conducted using Lyapunov stability theory. Simulation results demonstrate the convergence properties of the proposed protocols, while real-world tasks validate its practicality. IEEE
Keyword ：
Autonomous aerial vehicles Autonomous aerial vehicles Bearing-only measurement Bearing-only measurement bearing persistence bearing persistence directed acyclic graphs directed acyclic graphs formation control formation control Formation control Formation control Quadrotors Quadrotors quadrotor UAVs quadrotor UAVs Rigidity Rigidity Stability analysis Stability analysis Topology Topology Velocity measurement Velocity measurement
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| GB/T 7714 | Lin, Q. , Miao, Z. , Chen, Y. et al. Bearing-only Formation Maneuvering for UAV Swarm over Directed Interaction Topologies [J]. | IEEE Transactions on Intelligent Vehicles , 2024 : 1-12 . |
| MLA | Lin, Q. et al. "Bearing-only Formation Maneuvering for UAV Swarm over Directed Interaction Topologies" . | IEEE Transactions on Intelligent Vehicles (2024) : 1-12 . |
| APA | Lin, Q. , Miao, Z. , Chen, Y. , Wang, X. , He, W. , Wang, Y. . Bearing-only Formation Maneuvering for UAV Swarm over Directed Interaction Topologies . | IEEE Transactions on Intelligent Vehicles , 2024 , 1-12 . |
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Sliding inspections at heights and in harsh environments generally pose significant challenges for the autonomous operation of unmanned aerial manipulator (UAM). This article investigates the issue of reliable physical interaction by UAM for sliding inspections under uncertain disturbances. First, a second-order image dynamics model is derived using the virtual camera image moment to provide a foundation for autonomous positioning. Next, a sliding-mode disturbance observer is designed to estimate the uncertain disturbances from environments. Then, a hybrid image-based compliant control strategy is proposed to meet the physical interaction requirements of UAM. Particularly, a visual positioning controller is adopted to maintain precise positions of UAM, while a visual impedance control method is introduced to achieve reliable force tracking performance in the contact direction. The stability of the proposed strategy is analysed through Lyapunov theory. Finally, physical in-loop implementation and real-world experimental studies are conducted to validate the feasibility and performance of the developed method, demonstrating accurate tracking performances in both position and force and thereby, exhibiting the potential of proposed approach to work for sliding inspection effectively.
Keyword ：
Disturbance observer Disturbance observer image-based impedance control image-based impedance control unmanned aerial manipulator (UAM) unmanned aerial manipulator (UAM) visual servoing visual servoing
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| GB/T 7714 | Wu, Yangning , Chen, Yanjie , Zeng, Guohang et al. Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
| MLA | Wu, Yangning et al. "Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024) . |
| APA | Wu, Yangning , Chen, Yanjie , Zeng, Guohang , Shang, Changjing , Miao, Zhiqiang , Wang, Hesheng et al. Dynamic Image-Based Impedance Control of Aerial Manipulator for Sliding Inspection . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2024 . |
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As one of the most fundamental operations in mechanical production, hole-making plays a crucial role. However, existing hole-making sequence optimization models are not suitable for workshops with variable production parameters. To address this issue, a new model, named multi-objective multi-tool hole-making sequence optimization with precedence constraints (MO-MTpcHSO), is proposed in this paper. The model has two objectives: spindle travel distance and tool switching time. To solve MO-MTpcHSO, a customized Q-learning based genetic algorithm (QLGA) is proposed. The adaptive encoding method allows chromosomes to express feasible solutions, the population is considered as the agent, and the states are intervals of the diversity coefficient. Different insertion methods in the crossover operator are set as actions, and the reward is related to the diversity and values of objective functions of the population. The effectiveness of QLGA is validated by comparing it with other algorithms in practical workpieces. Moreover, the reasonability of actions and the necessity of the Q-learning framework in QLGA are validated.
Keyword ：
genetic algorithm genetic algorithm hole-making sequence optimization hole-making sequence optimization multi-objective problem multi-objective problem Q-learning Q-learning
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| GB/T 7714 | Zhang, Desong , Chen, Yanjie , Zhu, Guangyu . Multi-Objective Hole-Making Sequence Optimization by Genetic Algorithm Based on Q-Learning [J]. | IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE , 2024 . |
| MLA | Zhang, Desong et al. "Multi-Objective Hole-Making Sequence Optimization by Genetic Algorithm Based on Q-Learning" . | IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE (2024) . |
| APA | Zhang, Desong , Chen, Yanjie , Zhu, Guangyu . Multi-Objective Hole-Making Sequence Optimization by Genetic Algorithm Based on Q-Learning . | IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE , 2024 . |
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This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied environments.The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed.The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking.The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer.Thanks to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is mitigated.An integral-based filter is pro-posed to compensate for unpredictable environmental disturbances in order to improve the anti-disturbance ability.The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method.Comparative simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.
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| GB/T 7714 | Yanjie Chen , Yangning Wu , Limin Lan et al. Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances [J]. | 工程（英文） , 2024 , 35 (4) : 74-85 . |
| MLA | Yanjie Chen et al. "Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances" . | 工程（英文） 35 . 4 (2024) : 74-85 . |
| APA | Yanjie Chen , Yangning Wu , Limin Lan , Hang Zhong , Zhiqiang Miao , Hui Zhang et al. Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances . | 工程（英文） , 2024 , 35 (4) , 74-85 . |
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This study proposes an image-based visual servoing (IBVS) method based on a velocity observer for an unmanned aerial vehicle (UAV) for tracking a dynamic target in Global Positioning System (GPS)denied environments. The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target. A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed. The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking. The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer. Thanks to the velocity observer, translational velocity measurements are not required, and the control chatter caused by noise-containing measurements is mitigated. An integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance ability. The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method. Comparative simulations and multistage experiments are conducted to illustrate the tracking stability, anti-disturbance ability, and tracking robustness of the proposed method with a dynamic rotating target. (c) 2023 THE AUTHORS. Published by Elsevier LTD on behalf of Chinese Academy of Engineering and Higher Education Press Limited Company. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Keyword ：
Target tracking Target tracking Unmanned aerial vehicle Unmanned aerial vehicle Velocity observer Velocity observer Visual servoing Visual servoing
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| GB/T 7714 | Chen, Yanjie , Wu, Yangning , Lan, Limin et al. Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances [J]. | ENGINEERING , 2024 , 35 : 74-85 . |
| MLA | Chen, Yanjie et al. "Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances" . | ENGINEERING 35 (2024) : 74-85 . |
| APA | Chen, Yanjie , Wu, Yangning , Lan, Limin , Zhong, Hang , Miao, Zhiqiang , Zhang, Hui et al. Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances . | ENGINEERING , 2024 , 35 , 74-85 . |
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