多飞行器集联平台的设计与轨迹线性化几何控制

doi:10.3901/JME.2022.21.016

机械工程学报 ›› 2022, Vol. 58 ›› Issue (21): 16-26.doi: 10.3901/JME.2022.21.016

扫码分享

多飞行器集联平台的设计与轨迹线性化几何控制

俞玉树¹, 王凯迪¹, 杜健睿¹, 徐彬^2,3, 项昌乐^2,3

1. 北京理工大学机电学院北京 100081;
2. 北京理工大学机械与车辆学院北京 100081;
3. 北京理工大学重庆创新中心重庆 401135

收稿日期:2021-11-18 修回日期:2022-05-18 出版日期:2022-11-05 发布日期:2022-12-23
通讯作者: 徐彬(通信作者),男,1982年出生,博士,教授,博士研究生导师。主要研究方向为陆空多域飞行器技术。E-mail:bitxubin@bit.edu.cn
作者简介:俞玉树,男,1985年出生,博士,副教授,博士研究生导师。主要研究方向为机器人与控制。E-mail:yushu.yu@bit.edu.cn
基金资助:
国家自然科学基金面上资助项目（62173037）。

Design and Trajectory Linearization Geometric Control of Multiple Aerial Vehicles Assembly

YU Yushu¹, WANG Kaidi¹, DU Jianrui¹, XU Bin^2,3, XIANG Changle^2,3

1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081;
2. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081;
3. Chongqing Innovation Center, Beijing Institute of Technology, Chongqing 401135

Received:2021-11-18 Revised:2022-05-18 Online:2022-11-05 Published:2022-12-23

摘要/Abstract

摘要： 将多个无人机组合为“集联”飞行平台，能够解决单一无人机通常存在的欠驱动问题，实现六维全向运动，构建飞行操作平台。同时，多飞行器集联平台相比单一飞行器在带载能力、容错能力等方面具有优势。多飞行器集联平台的设计与控制是这一新型平台实现过程中的关键问题。设计了以三架子飞行器在星形连接形式下的集联平台结构，这一集联形式下，集联平台整体具备同时调整六维位置和姿态的能力。对集联平台整体系统进行动力学建模，进而设计了系统整体的控制器。为简化控制，采用奇异摄动理论的思想将整体系统分离为快变子系统和慢变子系统，其中快变子系统对应子飞行器的姿态运动，慢变子系统对应于集联平台的整体运动。由于飞行器的位形空间位于非欧空间，首次运用流形上的轨迹线性化控制设计了慢变子系统的控制器。基于Lyapunov稳定性理论证明了闭环系统的稳定性。采用现场总线技术设计了多个子飞行器间的实时、可扩展通信架构。在此基础上，开发研制了多飞行器集联平台的原理样机软硬件系统。通过仿真测试和样机上的实际飞行测试，验证了集联平台设计与控制方法的有效性。这些工作为发展具备六维全向运动、可拓展的多飞行器集联平台奠定了理论和实验基础。

关键词: 多飞行器集联平台, 六维全向运动, 几何控制, 总线通信, 实际飞行测试

Abstract: An assembly composed of multiple aerial vehicles is capable of achieving omnidirectional motion in SE(3). Meanwhile, such assembly has advantages in payload and fault tolerance capacity compared with a single aircraft. Because of these characteristics, it has the potential to become an ideal platform for manipulation and observation. The mechanism and structure of the assembly aerial platform is designed. Such a platform has the ability to adjust its six-dimensional pose simultaneously. The dynamics of the overall system is investigated. Using singular perturbation theory, the entire system is partitioned into two subsystems, the fast varying system which represents the rotational motion of each aircraft, and the slowly varying system which represents the overall motion of the integrated assembly. Since the configuration space of the aircraft is non-Euclidean space, the controller of the slowly varying subsystem is designed using the trajectory linearization control on the manifold. On this basis, the stability of the overall closed loop system is proved using the Lyapunov theory. The real time communication architecture among the different sub-aircraft is designed. Furthermore, the software and the hardware of the real world protype is developed. Both simulation and real-world tests are conducted, validating the feasibility of the mechanism and control design for the novel assembly containing multiple aerial vehicles proposed.

Key words: aerial vehicles assembly, omnidirectional motion, geometric control, bus communication, real-world flight

中图分类号:

TP242

俞玉树, 王凯迪, 杜健睿, 徐彬, 项昌乐. 多飞行器集联平台的设计与轨迹线性化几何控制[J]. 机械工程学报, 2022, 58(21): 16-26.

YU Yushu, WANG Kaidi, DU Jianrui, XU Bin, XIANG Changle. Design and Trajectory Linearization Geometric Control of Multiple Aerial Vehicles Assembly[J]. Journal of Mechanical Engineering, 2022, 58(21): 16-26.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.2022.21.016

http://www.cjmenet.com.cn/CN/Y2022/V58/I21/16

参考文献

[1] RUGGIERO F, LIPPIELLPO V, OLLERO A. Aerial manipulation:A literature review[J]. IEEE Robotics and Automation Letters, 2018, 3(3):1957-1964.
[2] MENG X D, HE Y Q, HAN J D. Survey on aerial manipulator:System, modeling, and control[J]. Robotica, 2020, 38(7):1288-1317.
[3] DING X L, GUO P, XU K, et al. A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems[J]. Chinese Journal of Aeronautics, 2019, 32(1):200-214.
[4] 鲜斌, 刘洋, 张旭, 等. 基于视觉的小型四旋翼无人机自主飞行控制[J]. 机械工程学报, 2015, 51(9):58-63. XIAN Bin, LIU Yang, ZHANG Xu, et al. Autonomous control of a micro quadrotor unmanned aerial vehicle using optical flow using optical flow[J]. Journal of Mechanical Engineering, 2015, 51(9):58-63.
[5] 王营华, 宋光明, 刘盛松, 等. 一种视觉引导的作业型飞行机器人设计[J]. 机器人, 2019, 41(3):353-361. WANG Yinghua, CONG Guangming, LIU Shengsong, et al. Design of a vision-guided aerial manipulator[J]. Robot, 2019, 41(3):353-361.
[6] 刘云平, 周玉康, 张永宏, 等. 基于滑模PID的飞行机械臂稳定性控制[J]. 南京理工大学学报, 2018, 42(5):525-532. LIU Yunping, ZHOU Yukang, ZHANG Yonghong, et al. Research on stability control of flight manipulator based on sliding mode PID[J]. Journal of Nanjing University of Science and Technology, 2018, 42(5):525-532.
[7] SUTHAR B, JUNG S. Design and feasibility analysis of a foldable robot arm for drones using a twisted string actuator:FRAD-TSA[J]. IEEE Robotics and Automation Letters, 2021, 6(3):5769-5775.
[8] KIM S J, LEE D Y, JUNG G P, et al. An origami-inspired, self-locking robotic arm that can be folded flat[J]. IEEE Transactions on Industrial Electronics, Science Robotics, 2018, 3(16):1-10.
[9] ZHANG G, HE Y, DAI B, et al. Grasp a moving target from the air:System & control of an aerial manipulator[C]//2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, 2018:1681-1687.
[10] ESTRADA M A, MINTCHEV S, CHRISTENSEN D L, et al. Forceful manipulation with micro air vehicles[J]. Science Robotics, 2018, 23(3):1-7.
[11] ORSAG M, KORPELA C, BOGDAN S, et al. Dexterous aerial robots mobile manipulation using unmanned aerial systems[J]. IEEE Transactions on Robotics, 2017, 33(6):1453-1466.
[12] LIPPIELLPO V, FONTANELLI G A, RUGGIERO F. Image-based visual-impedance control of a dual-arm aerial manipulator[J]. IEEE Robotics and Automation Letters, 2018, 3(3):1856-1863.
[13] WELDE J, PAULOS J, KUMAR V. Dynamically feasible task space planning for underactuated aerial manipulators[J]. IEEE Robotics and Automation Letter, 2021, 6(2):3232-3239.
[14] 史振庆, 梁晓龙, 张佳强, 等. 基于协同攻击区的航空集群最优空间构型研究[J]. 兵工学报, 2019, 40(4):788-798. SHI Zhenqing, LIANG Xiaolong, ZHANG Jiaqiang, et al. Study of optimal spatial configuration of aircraft swarm based on cooperative attack zone[J]. Acta Armamentarii, 2019, 40(4):788-798.
[15] SANALITROL D, SAVINO H J, TOGNONL M, et al. Full-pose manipulation control of a cable-suspended load with multiple UAVs under uncertainties[J]. IEEE Robotics and Automation Letters, 2020, 5(2), 2185-2191.
[16] PARK S, LEE Y H, HEO J, et al. Pose and posture estimation of aerial skeleton systems for outdoor flying[C]//2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 704-710, 2019.
[17] PARK S, LEE J, AHN J, et al. ODAR:Aerial manipulation platform enabling omni-directional wrench generation[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23(4):1907-1918.
[18] YU Y, DING X. A global tracking controller for underactuated aerial vehicles:Design, analysis, and experimental tests on quadrotor[J]. IEEE/ASME Transactions on Mechatronics, 2016, 21(5):2499-2511.
[19] YU Y, LI P, GONG P. Finite-time geometric control for underactuated aerial manipulators with unknown disturbances[J]. International Journal of Robust and Nonlinear Control, 2020, 30(13):5040-5061.

多飞行器集联平台的设计与轨迹线性化几何控制

Design and Trajectory Linearization Geometric Control of Multiple Aerial Vehicles Assembly

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	樊波, 胡波, 陈子明, 姚建涛. 基于非均匀有理B样条的无人装载机铲装轨迹多目标优化[J]. 机械工程学报, 2026, 62(7): 185-195.
[2]	顾连睿, 郭国强, 江仁政, 毋天歌, 柯帅, 孔志学, 赵欢. 薄壁复杂结构的机器人打磨路径规划和力位控制技术现状与发展[J]. 机械工程学报, 2026, 62(5): 117-132.
[3]	张涛, 何家豪, 施永平, 赵萍, 汪键, 王伟. 基于改进Stribeck摩擦的协作机器人动力学参数辨识[J]. 机械工程学报, 2026, 62(5): 151-167.
[4]	林松, 戴建生, 宋屹峰, 王洪光, 袁兵兵. 具有可重构躯干的轮式移动机器人曲面运动特性分析[J]. 机械工程学报, 2026, 62(5): 168-181.
[5]	孙鹏, 葛梦虎, 芮超, 曹利康, 陈波, 王剑斌, 李研彪. 混联双足机械腿的动力学建模与参数辨识[J]. 机械工程学报, 2026, 62(5): 192-203.
[6]	郭世航, 王神龙, 侯锦辉, 李永歌. 单磁驱动多自由度软体机器鱼设计与动力学建模[J]. 机械工程学报, 2026, 62(5): 215-229.
[7]	谭励, 余煌, 杜小强, 贺磊盈, 马锃宏. 基于稳定夹持的类球形果实采摘末端执行器优化设计与试验[J]. 机械工程学报, 2026, 62(3): 353-365.
[8]	郭万金, 利乾辉, 徐明坤, 侯旭栋, 刘孝恒, 曹雏清, 赵立军. 高抗干扰性的无力传感器工业机器人外力估计方法[J]. 机械工程学报, 2026, 62(3): 366-383.
[9]	高建设, 暴雨萌, 宛磊, 刘强, 丁顺良, 饶晓波. 被动双足机器人的吸引盆内部拓扑结构[J]. 机械工程学报, 2026, 62(3): 384-395.
[10]	赵浩宇, 侯鹏帅, 陈星全, 邵宇乐, 董奇, 陈杰. 非结构化地形环境下移动机器人导航[J]. 机械工程学报, 2026, 62(3): 396-406.
[11]	杨秀建, 袁志豪. 基于交错式栅格粒度地图的非平坦地形环境下无人车辆路径规划[J]. 机械工程学报, 2026, 62(2): 313-328.
[12]	刘海波, 邓平, 迟庆宇, 刘天然, 刘阔, 李特, 黄祖广, 刘行健, 薄其乐, STEVEN Y LIANG, 王永青. 智能加工中数据使能技术与应用[J]. 机械工程学报, 2026, 62(2): 407-444.
[13]	刘争, 张泽, 张嘉骏, 谢福贵, 刘辛军. 航天构件加工移动式混联机器人颤振稳定域分析与铣削验证[J]. 机械工程学报, 2026, 62(1): 195-203.
[14]	庞文, 朱大奇, 林姝晗, 陈铭治. 基于多水下航行器编队控制的水下目标协同搬运研究[J]. 机械工程学报, 2025, 61(24): 363-376.
[15]	张明, 郭怀超, 温建明, 孙凤, 孙兴伟, 房立金, 岡宏一. 基于肌电信号的变刚度机器人关节运动性能提升机制[J]. 机械工程学报, 2025, 61(23): 27-40.