Design and implementation of a 2-DOF aerial manipulation system

HE Wei; FANG Yongchun; LIANG Xiao; ZHANG Peng

doi:10.7527/S1000-6893.2020.24280

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2021 , Vol. 42 >Issue 2: 324280 - 324280

DOI: https://doi.org/10.7527/S1000-6893.2020.24280

Electronics and Electrical Engineering and Control

Design and implementation of a 2-DOF aerial manipulation system

HE Wei ,
FANG Yongchun ,
LIANG Xiao ,
ZHANG Peng

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1. Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300350, China;
2. Tianjin Key Laboratory of Intelligent Robotics, Tianjin 300350, China

Received date: 2020-05-24

Revised date: 2020-06-01

Online published: 2020-06-24

Supported by

National Natural Science Foundation of China (61873132, 61903200); Natural Science Foundation of Tianjin (19JCQNJC03500)

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Abstract

A dynamic model of the aerial manipulation system based on the Euler-Lagrange method is firstly presented. Under the assumption that the joint angles of the robotic arm change slowly, the model is simplified while still reasonable and adequate to represent the real situation. A hierarchical inner-outer loop based decoupled controller is designed after feedback linearization. Then a sliding mode controller and a Proportion-Integral-Differential (PID) controller are designed for the inner and outer loops respectively. Simulation experiments show that the proposed method performs significantly better than the classical hierarchical proportion-integral-differential controller in the tasks of regulation and trajectory tracking with the presence of disturbances caused by the robotic arm. It can be concluded that the modeling and control method can effectively reject the modeled and unmodeled disturbances from the arm, and that the computing complexity of the controller is low enough for practical applications.

Key words： unmanned aerial vehicles; manipulators; dynamic modeling; nonlinear control; motion control

Cite this article

HE Wei , FANG Yongchun , LIANG Xiao , ZHANG Peng . Design and implementation of a 2-DOF aerial manipulation system[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021 , 42(2) : 324280 -324280 . DOI: 10.7527/S1000-6893.2020.24280

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