基于无源性分散控制的欠驱动空中机械臂协同抓取
Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators
AI总结：
本文提出一种基于无源性的分散阻抗控制方法，通过坐标变换实现欠驱动空中机械臂的惯性解耦，使任意数量AM可模块化协同抓取并自动收敛到目标构型，仿真验证了10个AM的协同抓取。
摘要：
本文针对欠驱动空中机械臂（AMs）的协同抓取，提出了一种分散式无源阻抗控制方案。通过适当的坐标变换，将AM系统建模为惯性解耦动力学，并在此基础上进行基于无源性的控制设计。由于抓取交互可解释为无源系统的反馈互联，因此可以模块化地组合任意数量的AM，从而形成分散控制方案。无源性特性的另一个重要结果是，AM会自动收敛到某种构型以完成抓取。仿真中展示了使用10个AM进行协同抓取的结果。
英文摘要：
This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially decoupled dynamics with which a passivity-based control design is conducted. Since the interaction for grasping can be interpreted as a feedback interconnection of passive systems, an arbitrary number of AMs can be modularly combined, leading to a decentralized control scheme. Another interesting consequence of the passivity property is that the AMs automatically converge to a certain configuration to accomplish the grasping. Collaborative grasping using 10 AMs is presented in simulation.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
