Modeling and control for unmanned helicopter based aerial manipulator

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Modeling and control for unmanned helicopter based aerial manipulator
	Song DL(宋大雷); Qi JT(齐俊桐)
	2014
会议名称	6th International Conference on Modelling, Identification and Control, ICMIC 2014
会议日期	December 3-5, 2014
会议地点	Melbourne, VIC, Australia
关键词	RUA V Aerial Manipulator Dynamics Modeling Predictive Control Flight Simulation
页码	259-264
通讯作者	宋大雷
中文摘要	Unmanned Helicopter based Aerial Manipulator (UH-AM) is a new conception of aerial robots with arms, which changes the traditional searching RUAVs into operating aerial robots. The same with traditional robotic arms, the end-effector's control accuracy is also important for precise operation in hovering mode, however, it cannot be achievable easily because of the relative disturbance between UH and AM. In this research, the overall dynamics model is firstly developed. Based on the proposed model, to compensate for the disturbance from relative dynamics with rotor system's control delay, a predictive controller is designed to eliminate the errors of position and attitude of the end-effector. Simulation results show its effectiveness in precise air-operation under inner/external disturbance.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE VTS Victorian Chapter; Institute of Electrical and Electronics Engineers (IEEE); International Journal of Computer Applications in Technology; International Journal of Modelling, Identification and Control; Swinburne University of Technology
会议录	Proceedings of 2014 International Conference on Modelling, Identification and Control, ICMIC 2014
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-0-9567157-4-6
WOS记录号	WOS:000380485300046
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15782]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Song DL,Qi JT. Modeling and control for unmanned helicopter based aerial manipulator[C]. 见:6th International Conference on Modelling, Identification and Control, ICMIC 2014. Melbourne, VIC, Australia. December 3-5, 2014.