作业型飞行机器人动态滑翔抓取的鲁棒自适应控制  

Robust adaptive control for unmanned aerial manipulator in dynamic gliding grasping

作　　者：张振国 陈彦杰 占巍巍 何炳蔚[1] 林立雄 王耀南[2,3] ZHANG Zhen-guo;CHEN Yan-jie;ZHAN Wei-wei;HE Bing-wei;LIN Li-xiong;WANG Yao-nan(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou Fujian 350108,China;College of Electrical and Information Engineering,Hunan University,Changsha Hunan 410082,China;National Engineering Laboratory for Robot Visual Perception and Control Technology,Changsha Hunan 410082,China)

机构地区：[1]福州大学机械工程与自动化学院,福建福州350108 [2]湖南大学电气与信息工程学院,湖南长沙410082 [3]机器人视觉感知与控制技术国家工程实验室,湖南长沙410082

出　　处：《控制理论与应用》2021年第6期775-783,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61803089);福建省自然科学基金项目(2019J01213);福建省中青年教师教育科研项目(JT180024)资助。

摘　　要：作业型飞行机器人是指将多自由度机械臂固连在飞行机器人上的一类新型机器人系统,它能够对周围环境施加主动影响,同时也存在较为复杂的动力学性能.本文针对作业型飞行机器人滑翔抓取物体时所受到的摩擦力和接触力问题以及在飞行过程中产生的转动惯量变化问题,设计了一种整体式鲁棒自适应控制策略.首先在作业型飞行机器人系统动力学建模中引入摩擦力和接触力模型,考虑飞行机器人转动惯量为有界变量,提高了建模和抓取的精度.然后,为减弱滑翔抓取产生的剧烈扰动对飞行控制性能的影响,设计了一种抗扰动的鲁棒自适应控制器,并使用区间矩阵法对转动变量变化进行补偿控制.接着,通过Lyapunov稳定性理论证明了系统的稳定性.最后通过仿真对比实验,验证了所提出方法的有效性和优势.Unmanned aerial manipulator is a new kind of robot systems that consists of a multi-joint manipulator and flying robot.It can exert a positive influence on the environments,as well as with a complex dynamics properties.Aiming at the system control problems of friction,contact force in dynamic gliding grasping and inertia tensor changing in flying,this paper proposed an integral robust adaptive control strategy for the unmanned aerial manipulator.At first,friction and contact force are introduced in the dynamic modeling,and the inertia tensor is considered as bounded variables to improve accuracy of modeling and grasping.Then,in order to reduce impact of disturbances caused by dynamic gliding grasping on flight control performance,an anti-disturbances robust controller is designed based on interval matrix method to compensate the changes of the inertia tensor.Subsequently,the stability analysis is provided through the Lyapunov stability theory.Finally,the effectiveness and superiority of the proposed method are verified in simulation comparisons.

关 键 词：作业型飞行机器人 不确定性 区间矩阵 鲁棒自适应控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]