基于观测器的空中机械臂系统在未知外部扰动下的鲁棒控制

中文摘要 AI 辅助

本文研究了由一个作为无人飞行器的四旋翼和一个作为机械臂的机器人手臂组成的空中机械臂系统的数学建模与控制问题。通过将整体质心速度和系统姿态识别为约束条件来建立动力学模型，从而得到一个简化的、两个解耦的子系统：锁定（整体平移）子系统和形状空间（驱动或整体旋转）子系统，两者均受到外部扰动的影响。由于系统是机械耦合的，一个关键挑战出现了：第一个子系统中的恒定有界扰动在第二个子系统中表现为时变的、状态相关的扰动。鉴于四旋翼本身是不稳定的，如果不能有效管理这些扰动和耦合效应，飞行过程中机器人手臂（RM）的运动可能会进一步危及整个QRM系统的稳定性。为了解决这个问题，我们提出了一种基于连续非线性扰动观测器的反馈控制律，该控制律能够独立控制每个子系统，同时系统地消除交叉耦合效应。通过多个模拟实际运行条件的仿真验证了所提出控制器的有效性，从而证实了其实际应用性，并突出了本工作的核心贡献。

英文摘要

This paper addresses the mathematical modeling and control of an aerial manipulator system comprising a quadrotor as the uncrewed aerial vehicle and a robotic arm as the manipulator. The dynamic model is established by identifying the overall center-of-mass velocity and the system's orientation as constraints, yielding a simplified, two-decoupled subsystems: a locked (overall translation) subsystem and a shape-space (actuation or overall rotation) subsystem, both subjected to external disturbances. Since the system is mechanically coupled, a critical challenge arises where constant bounded disturbances in the first subsystem manifest as time-varying, state-dependent disturbances in the second subsystem. Given that the quadrotor is inherently unstable, the movement of the robotic manipulator (RM) during flight can further jeopardize the stability of the entire QRM system if these disturbances and coupling effects are not effectively managed. To address this, we present a continuous nonlinear disturbance observer-based feedback control law, which enables the independent control of each subsystem while systematically eliminating cross-coupling effects. The efficacy of the proposed controller is validated through multiple simulations emulating practical operating conditions, thereby substantiating its real-world applicability and highlighting the core contributions of this work.

发表机构

• Indian Institute of Technology Palakkad（印度理工学院帕拉卡德分校）

机构由 AI 辅助整理，请以论文原文为准。