Robust Control for Unmanned Aerial Manipulator Under Disturbances
Unmanned aerial manipulator (UAM) is usually a combination of a quadrotor and a robotic arm that can exert active influences on the environments. The control problems of the UAM system include model uncertainty caused by its center of gravity shift and external disturbances from the environments. To...
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doaj-3ca7b9c7e53a4b6fbd1d9b1e2eb083522021-03-30T04:36:21ZengIEEEIEEE Access2169-35362020-01-01812986912987710.1109/ACCESS.2020.30089719139470Robust Control for Unmanned Aerial Manipulator Under DisturbancesYanjie Chen0https://orcid.org/0000-0001-9750-9177Weiwei Zhan1https://orcid.org/0000-0002-1311-3800Bingwei He2https://orcid.org/0000-0002-4386-8542Lixiong Lin3https://orcid.org/0000-0002-9829-5358Zhiqiang Miao4https://orcid.org/0000-0002-0899-1537Xiaofang Yuan5https://orcid.org/0000-0001-7280-7207Yaonan Wang6https://orcid.org/0000-0002-0519-6458School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, ChinaSchool of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, ChinaSchool of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, ChinaSchool of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, ChinaCollege of Electrical and Information Engineering, Hunan University, Changsha, ChinaCollege of Electrical and Information Engineering, Hunan University, Changsha, ChinaCollege of Electrical and Information Engineering, Hunan University, Changsha, ChinaUnmanned aerial manipulator (UAM) is usually a combination of a quadrotor and a robotic arm that can exert active influences on the environments. The control problems of the UAM system include model uncertainty caused by its center of gravity shift and external disturbances from the environments. To handle these two disturbances, a tracking control strategy is proposed for position and attitude control of the UAM in this paper. In particular, the model of the UAM is established considering with center of gravity shift and disturbances from environments. In the position control, both internal disturbances and external disturbances are compensated by using a sliding mode controller. In the attitude control, an adaptive law is designed to estimate internal disturbances, and a disturbance observer is designed to estimate external disturbances. The stability analysis of the proposed controller is provided and the effectiveness of the proposed method is verified in simulation.https://ieeexplore.ieee.org/document/9139470/Adaptive controlcenter of gravity shiftdisturbance observersliding mode controlunmanned aerial manipulator |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yanjie Chen Weiwei Zhan Bingwei He Lixiong Lin Zhiqiang Miao Xiaofang Yuan Yaonan Wang |
spellingShingle |
Yanjie Chen Weiwei Zhan Bingwei He Lixiong Lin Zhiqiang Miao Xiaofang Yuan Yaonan Wang Robust Control for Unmanned Aerial Manipulator Under Disturbances IEEE Access Adaptive control center of gravity shift disturbance observer sliding mode control unmanned aerial manipulator |
author_facet |
Yanjie Chen Weiwei Zhan Bingwei He Lixiong Lin Zhiqiang Miao Xiaofang Yuan Yaonan Wang |
author_sort |
Yanjie Chen |
title |
Robust Control for Unmanned Aerial Manipulator Under Disturbances |
title_short |
Robust Control for Unmanned Aerial Manipulator Under Disturbances |
title_full |
Robust Control for Unmanned Aerial Manipulator Under Disturbances |
title_fullStr |
Robust Control for Unmanned Aerial Manipulator Under Disturbances |
title_full_unstemmed |
Robust Control for Unmanned Aerial Manipulator Under Disturbances |
title_sort |
robust control for unmanned aerial manipulator under disturbances |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2020-01-01 |
description |
Unmanned aerial manipulator (UAM) is usually a combination of a quadrotor and a robotic arm that can exert active influences on the environments. The control problems of the UAM system include model uncertainty caused by its center of gravity shift and external disturbances from the environments. To handle these two disturbances, a tracking control strategy is proposed for position and attitude control of the UAM in this paper. In particular, the model of the UAM is established considering with center of gravity shift and disturbances from environments. In the position control, both internal disturbances and external disturbances are compensated by using a sliding mode controller. In the attitude control, an adaptive law is designed to estimate internal disturbances, and a disturbance observer is designed to estimate external disturbances. The stability analysis of the proposed controller is provided and the effectiveness of the proposed method is verified in simulation. |
topic |
Adaptive control center of gravity shift disturbance observer sliding mode control unmanned aerial manipulator |
url |
https://ieeexplore.ieee.org/document/9139470/ |
work_keys_str_mv |
AT yanjiechen robustcontrolforunmannedaerialmanipulatorunderdisturbances AT weiweizhan robustcontrolforunmannedaerialmanipulatorunderdisturbances AT bingweihe robustcontrolforunmannedaerialmanipulatorunderdisturbances AT lixionglin robustcontrolforunmannedaerialmanipulatorunderdisturbances AT zhiqiangmiao robustcontrolforunmannedaerialmanipulatorunderdisturbances AT xiaofangyuan robustcontrolforunmannedaerialmanipulatorunderdisturbances AT yaonanwang robustcontrolforunmannedaerialmanipulatorunderdisturbances |
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1724181529317343232 |