کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
8953948 | 1645976 | 2018 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Trajectory tracking of quadrotor flying manipulators using L1 adaptive control
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper concerns with tracking control of an unmanned quadrotor vehicle equipped with a multi-link robotic manipulator. We present an analytic model of the system that formulates unknown interactions between the aerial platform and the manipulator in the form of nonlinear time-varying uncertainties. Based on the proposed model, a novel trajectory tracking scheme is synthesized by combining two inner feedback linearization loops to stabilize the nominal quadrotor and manipulator dynamics and a master L1 adaptive loop to systematically compensate for uncertainties and realize the desired closed-loop behavior. We show that this scheme leverages predictable transient and steady state performance in the presence of coupling effects and given a specified reference trajectory. Simulation studies have shown the effectiveness of the proposed aerial manipulator control method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of the Franklin Institute - Volume 355, Issue 14, September 2018, Pages 6239-6261
Journal: Journal of the Franklin Institute - Volume 355, Issue 14, September 2018, Pages 6239-6261
نویسندگان
Hossein Beikzadeh, Guangjun Liu,