AI 中文总结
针对欠驱动空中机器人接触式检测的控制挑战，该文提出结合积分增强型滑模控制与导纳控制的鲁棒框架，经仿真验证其力调节精度高、耦合抑制效果好，可实现稳定可靠的接触式检测。
AI 中文摘要
接触式工业检测要求空中平台在抑制干扰的同时保持稳定的交互作用，而欠驱动空中机器人因飞行器姿态与力生成之间的动态耦合关系带来控制挑战。本文提出一种针对配备1自由度机械臂的欠驱动六旋翼飞行器的鲁棒控制框架，用于执行持续接触式检测任务。该架构将积分增强型滑模控制（SMC）用于轨迹跟踪，与导纳控制律结合实现力调节；接触力被映射为前馈姿态项，1自由度机械臂主动补偿倾斜以维持表面对齐。软件在环仿真结果显示，基于SMC的方法相比传统PID实现了更优的跟踪性能与耦合抑制效果，且交互策略实现了精准的力调节，力调节的均方根误差（RMSE）为0.12N，能够稳定施加最大20N的力，证实该系统适用于稳定、可靠的接触式检测任务。
英文摘要
Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting disturbances. Underactuated aerial manipulators present control challenges due to the dynamic coupling between vehicle attitude and force generation. This paper proposes a robust control framework for an underactuated hexarotor equipped with a 1-DoF manipulator to perform sustained contact inspection. The architecture integrates integral-augmented Sliding Mode Control (SMC) for trajectory tracking with an admittance control law for force regulation. The contact force is mapped to a feedforward attitude term, while the 1-DoF arm actively compensates for the tilt to maintain surface alignment. Software-in-the-loop simulations demonstrate that the SMC-based approach achieves superior tracking and coupling rejection compared to traditional PID. Furthermore, the interaction strategy achieved precise force regulation with an RMSE of 0.12N and was able to stably exert up to 20N force, confirming the system's efficacy for stable, reliable contact-based inspection.
Comments6 pages, 7 figures, submitted to 2026 IEEE Industrial Electronics and Applications Conference (IEACon)
