Nonsingular Terminal Sliding Mode Adaptive Control for Unmanned Aerial Manipulator in Gliding Grasping

doi:10.3901/JME.2023.23.076

Abstract

Abstract: Unmanned aerial manipulator (UAM) is a new type of robotic system equipping with active operation mechanism, which has the ability to physically interaction with environments. Aiming at the problem of stable control when the UAM dynamic grasping, a nonsingular terminal sliding mode adaptive controller with an auxiliary system is proposed to improve the anti-disturbance property of the UAM facing to unpredictable contact force. The Newton-Euler method is adopted to establish the dynamics model of the UAM. Considering the instantaneous contact force between the end tip of the onboard manipulator and the object is the main disturbance source in grasping, the contact force model based on dynamics is established by using impulse theorem to improve modeling accuracy when UAM dynamic grasping. To reduce the influence of violent disturbance on flight control performance during dynamic grasping, an auxiliary system is proposed in the controller to compensate for the possible input saturation, enhancing the ability to deal with instantaneous disturbances. The stability of the proposed method is analyzed by Lyapunov theory. The simulation and experimental results show that the proposed method has advantages of strong stability and rapid response for UAM dynamic grasping.

Key words: unmanned aerial manipulator, dynamic grasping, nonsingular terminal sliding mode adaptive control, input saturation

CLC Number:

TP242

CHEN Yanjie, YU Jianye, ZHANG Zhenguo, ZHONG Hang, ZHANG Hui, WANG Yaonan. Nonsingular Terminal Sliding Mode Adaptive Control for Unmanned Aerial Manipulator in Gliding Grasping[J]. Journal of Mechanical Engineering, 2023, 59(23): 76-86.

References

[1] 陶于金，李沛峰. 无人机系统发展与关键技术综述[J]. 航空制造技术，2014(20):34-39. TAO Yujin，LI Peifeng. Overview of UAV system development and key technologies[J]. Aviation Manufacturing Technology，2014(20):34-39.
[2] NALDI R，FURCI M，SANFELICE R G，et al. Robust global trajectory tracking for underactuated VTOL aerial vehicles using inner-outer loop control paradigms[J]. IEEE Transactions on Automatic Control，2016，62(1):97-112.
[3] RUGGIERO F，LIPPIELLO V，OLLERO A. Aerial manipulation:A literature review[J]. IEEE Robotics and Automation Letters，2018，3(3):1957-1964.
[4] 宋大雷，孟祥冬，齐俊桐，等. 3自由度旋翼飞行机械臂系统动力学建模与预测控制方法[J]. 机器人，2015，37(2):152-160. SONG Dalei，MENG Xiangdong，QI Juntong. et al. Dynamic modeling and predictive control method for 3-DOF rotor flying manipulator system[J]. Robot，2015，37(2):152-160.
[5] LIANG Jiacheng，CHEN Yanjie，LAI Ningbin，et al. Low-complexity prescribed performance control for unmanned aerial manipulator robot system under model uncertainty and unknown disturbances[J]. IEEE Transactions on Industrial Informatics，2022，18(7):4632-4641.
[6] LAIACKER M，HUBER F，KONDAK K. High accuracy visual servoing for aerial manipulation using a 7 degrees of freedom industrial manipulator[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE，2016:1631-1636.
[7] FANG Linxu，CHEN Haoyao，LOU Yunjing，et al. Visual grasping for a lightweight aerial manipulator based on NSGA-II and kinematic compensation[C]//2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE，2018:3488-3493.
[8] ZHAN Weiwei，CHEN Yanjie，HE Bingwei，et al. Geometric-based prescribed performance control for unmanned aerial manipulator system under model uncertainties and external disturbances[J]. ISA Transactions，2022，128:367-379.
[9] 孙敬陶，钟杭，王耀南，等. 旋翼飞行机械臂的混合视觉伺服和分层控制方法[J]. 仪器仪表学报，2018，39(7):56-65. SUN Jingtao，ZHONG Hang，WANG Yaonan，et al. Hybrid visual servo and hierarchical control method for rotor flight manipulator[J]. Journal of Instrumentation，2018，39(7):56-65.
[10] 连杰，宋光明，王营华，等. 一种带有重心调节机构的作业型飞行机器人建模与控制[J]. 机器人，2019，41(1):1-8. LIAN Jie，SONG Guangming，WANG Yinghua. et al. Modeling and control of an operational flying robot with center of gravity adjustment mechanism[J]. Robot，2019，41(1):1-8.
[11] 孟祥冬，何玉庆，张宏达，等. 飞行机械臂系统的接触力控制[J]. 控制理论与应用，2020，37(1):59-68. MENG Xiangdong，HE Yuqing，ZHANG Hongda，et al. Contact force control of flight manipulator system[J]. Control Theory and Application，2020，37(1):59-68.
[12] 张振国，陈彦杰，占巍巍，等. 作业型飞行机器人动态滑翔抓取的鲁棒自适应控制[J]. 控制理论与应用，2021，38(6):775-783. ZHANG Zhenguo，CHEN Yanjie，ZHAN Weiwei，et al. Robust adaptive control for unmanned aerial manipulator in dynamic gliding grasping[J]. Control Theory and Application，2021，38(6):775-783.
[13] YAO Xiuming，PARK J H，DONG Hairong，et al. Robust adaptive nonsingular terminal sliding mode control for automatic train operation[J]. IEEE Transactions on Systems，Man，and Cybernetics:Systems，2018，49(12):2406-2415.
[14] QIAO Lei，ZHANG Weidong. Trajectory tracking control of AUVs via adaptive fast nonsingular integral terminal sliding mode control[J]. IEEE Transactions on Industrial Informatics，2019，16(2):1248-1258.
[15] CHEN Haitao，SONG Shenmin，ZHU Zhibin. Robust finite-time attitude tracking control of rigid spacecraft under actuator saturation[J]. International Journal of Control，Automation and Systems，2018，16(1):1-15.
[16] HE Wei，DONG Yiting，SUN Changyin. Adaptive neural impedance control of a robotic manipulator with input saturation[J]. IEEE Transactions on Systems，Man，and Cybernetics:Systems，2015，46(3):334-344.
[17] KEMPER M. Control system for unmanned 4-rotor helicopter[M]. 2008.
[18] JIA Shiyuan，SHAN Jinjun. Finite-time trajectory tracking control of space manipulator under actuator saturation[J]. IEEE Transactions on Industrial Electronics，2019，67(3):2086-2096.
[19] 朱安，陈力. 含弹簧阻尼缓冲机构空间机器人捕获卫星操作的避撞柔顺强化学习控制[J]. 控制理论与应用，2020，37(8):1727-1736. ZHU An，CHEN Li. Collision avoidance compliance reinforcement learning control for space robot capturing satellite operation with spring damping mechanism[J]. Control Theory and Application，2020，37(8):1727-1736.