发表机构
Delft University of Technology（代尔夫特理工大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
提出结合NMPC与INDI的接触感知控制框架，在欠驱动四旋翼单连杆机械臂上实现空中书写，仿真与实验验证了五自由度位姿和接触力鲁棒同步跟踪。
AI 中文摘要
我们提出了一种用于欠驱动平台上空中书写的鲁棒接触感知控制框架。该框架结合了非线性模型预测控制（NMPC），用于在小参考穿透深度下实现精确的末端执行器位置和法向力跟踪，且在不同控制器调参下性能一致；同时结合全身增量非线性动态逆（INDI），以增强接触过程中对摩擦力和空气动力扰动的鲁棒性。所提出的控制器在基于四旋翼的空中机械臂上进行了验证，该机械臂具有刚性单连杆单自由度（DoF）臂，并进行了仿真和实际实验。空中书写实验涵盖了垂直和倾斜表面、多种参考力、不同摩擦条件以及风扰动。结果表明，在标准的欠驱动四旋翼上，配备简单刚性单连杆臂，无需全驱动平台、复杂机械臂或专用力/力矩传感，即可实现鲁棒的末端执行器五自由度位姿和接触力同步跟踪。
英文摘要
We present a robust contact-aware control framework for aerial writing on an underactuated platform. The framework combines nonlinear model predictive control (NMPC) for accurate end-effector position and normal-force tracking at small reference penetration depths, with consistent performance across controller tunings, with whole-body incremental nonlinear dynamic inversion (INDI) for robustness to frictional and aerodynamic disturbances during contact. The proposed controllers are validated on a quadrotor-based aerial manipulator with a rigid, single-link, one-degree-of-freedom (DoF) arm in simulation and real-world experiments. The aerial writing experiments span vertical and inclined surfaces, multiple reference forces, different friction conditions, and wind disturbances. The results demonstrate that robust simultaneous five-DoF end-effector pose and contact-force tracking is achievable on a standard underactuated quadrotor with a simple, rigid, single-link arm, without requiring a fully actuated platform, a complex arm, or dedicated force/torque sensing.
Comments8 pages, 6 figures
