悬停状态下旋翼飞行机器人自适应鲁棒控制  

Adaptive robust control for a rotary⁃wing flight robot in hovering

作　　者：丁力 夏天 康绍鹏 刘凯磊 王尧尧 刘小峰[3] Ding Li;Xia Tian;Kang Shaopeng;Liu Kailei;Wang Yaoyao;Liu Xiaofeng(College of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213001,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 216000,China;College of Internet of Things Academy,Hohai University,Changzhou 213001,China)

机构地区：[1]江苏理工学院机械工程学院,常州213001 [2]南京航空航天大学机电学院,南京216000 [3]河海大学物联网学院,常州213001

出　　处：《电子测量与仪器学报》2021年第9期73-79,共7页Journal of Electronic Measurement and Instrumentation

基　　金：国家自然科学基金(52005231);江苏省研究生实践创新计划(SJCX20_1044);江苏省高等学校大学生创新训练计划项目(202011463001Z);江苏省自然科学基金项目(BK20170315);常州市社会发展科技支撑项目(CE20215050)资助。

摘　　要：针对加装二自由度绳驱动机械臂的旋翼飞行机器人在悬停条件下的抗干扰控制,提出了一种自适应终端滑模控制策略。将系统分成四旋翼飞行器和机械臂两个子系统,分别采用拉格朗日法与牛顿⁃欧拉法获得各自的动力学模型。在Lyapunov稳定性框架下设计了旋翼飞行器人的抗干扰轨迹跟踪控制器,并引入自适应策略来估计扰动上界。通过3个仿真算例验证了所设计控制器的有效性,结果表明,与其他控制器相比,本控制器具有较高的跟踪精度、较强的鲁棒性以及较好的抗干扰能力;机械臂质量的变化主要影响x通道和y通道的控制性能;本控制器基本能满足旋翼飞行机器人悬停作业的工作需求,具有一定的工程参考意义。This paper proposed an adaptive terminal sliding mode control strategy for disturbance rejection control of a rotary⁃wing flight robot equipped with a 2⁃DOF cable⁃driven manipulator.The system has been divided into quadrotor subsystem and manipulator subsystem.The dynamical model of quadrotor has been obtained by Lagrange method.And the dynamical model of manipulator has been deduced by Newton⁃Euler equation.Then,the dynamical model of quadrotor has been simplified in hovering.And the motion of the manipulator which is regarded as perturbed force and moment is added into the dynamical of quadrotor.The effectiveness of the proposed controller is tested through three simulation case.The results show that the proposed controller is superior to other controllers in terms of tracking accuracy,robustness and disturbance rejection.The control performances of x and y channels are sensitive to the manipulator motion.The proposed controller has a good performance for the rotary⁃wing flight robot in hovering,which has an engineering referenced value.

关 键 词：旋翼飞行机器人 悬停作业 自适应策略 终端滑模 绳驱动机械臂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]