Characteristic model-based control of aerial manipulator for improved interaction stability  

作　　者：Bingkai XIU Zhan LI Yipeng YANG Huijun GAO 

机构地区：[1]Research Institute of Intelligent Control and Systems,Harbin Institute of Technology,Harbin,150001,China [2]State Key Laboratory of Robotics and Systems(HIT),Harbin Institute of Technology,Harbin,150001,China

出　　处：《Science China(Technological Sciences)》2025年第4期166-178,共13页中国科学(技术科学英文版)

基　　金：support partially by the Pre-research Task of State Key Laboratory of Robotics and Systems (HIT) (Grant No. SKLRS202402B);the National Natural Science Foundation of China (Grant No. 62273122);the Heilongjiang Natural Science Foundation (Grant No. YQ2023F009)。

摘　　要：Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关 键 词：aerial manipulator interaction stability contact force observer characteristic model 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]