飞行作业机器人动态抓取的非奇异终端滑模自适应控制

doi:10.3901/JME.2023.23.076

机械工程学报 ›› 2023, Vol. 59 ›› Issue (23): 76-86.doi: 10.3901/JME.2023.23.076

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飞行作业机器人动态抓取的非奇异终端滑模自适应控制

陈彦杰¹, 于健业¹, 张振国², 钟杭³, 张辉³, 王耀南²

1. 福州大学机械工程及自动化学院福州 350108;
2. 湖南大学电气与信息工程学院长沙 410082;
3. 湖南大学机器人学院长沙 410082

收稿日期:2022-12-01 修回日期:2023-07-14 发布日期:2024-02-20
通讯作者: 张辉(通信作者)，男，1983年出生，博士，教授，博士研究生导师。主要研究方向为机器人技术、视觉感知和机器学习等。E-mail：zhanghui1983@hnu.edu.cn
作者简介:陈彦杰，男，1988年出生，博士，副教授，硕士研究生导师。主要研究方向为飞行作业机器人、运动规划、动力学与控制等。E-mail：chenyanjie@fzu.edu.cn
基金资助:
科技创新2030-“新一代人工智能”重大项目课题(2021ZD0114503)、国家重大研究计划-重点支持(92148204)、国家自然科学基金(62273098, 61971071, 62027810, 62133005)、湖南省杰出青年科学基金(2021JJ10025)、湖南省重点研发计划(2021GK4011, 2022GK2011)、长沙市科技重大专项(kh2003026)、机器人学国家重点实验室联合开放基金(2021-KF-22-17)和中国高校产学研创新基金(2020HYA06006)资助项目。

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

CHEN Yanjie¹, YU Jianye¹, ZHANG Zhenguo², ZHONG Hang³, ZHANG Hui³, WANG Yaonan²

1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108;
2. College of Electrical and Information Engineering, Hunan University, Changsha 410082;
3. School of Robotics, Hunan University, Changsha 410082

Received:2022-12-01 Revised:2023-07-14 Published:2024-02-20

摘要/Abstract

摘要： 飞行作业机器人是指搭载主动作业机构拥有与环境进行物理交互能力的一类新型机器人系统。针对飞行作业机器人在动态抓取时的稳定控制难题，设计了一种非奇异终端滑模自适应控制器，通过设计辅助系统提升飞行作业机器人在面向不确定接触力时的抗扰动性能。利用牛顿-欧拉方法对飞行作业机器人进行动力学整体建模。考虑到机载机械臂末端与物体之间的瞬时接触力是抓取时的主要干扰源，利用冲量定理建立接触力的动力学模型，提高了飞行作业机器人动态抓取时的建模精度。为降低动态抓取时剧烈扰动对飞行控制性能的影响，在控制器中设计辅助系统补偿可能出现的输入饱和问题，加强了处理瞬时扰动的能力。所设计的方法通过Lyapunov理论给出了稳定性证明。仿真和实验结果表明，提出的方法在飞行作业机器人动态抓取过程中具有更强的稳定性和更快响应的优势。

关键词: 飞行作业机器人, 动态抓取, 非奇异终端滑模自适应控制, 输入饱和

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

中图分类号:

TP242

陈彦杰, 于健业, 张振国, 钟杭, 张辉, 王耀南. 飞行作业机器人动态抓取的非奇异终端滑模自适应控制[J]. 机械工程学报, 2023, 59(23): 76-86.

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.

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飞行作业机器人动态抓取的非奇异终端滑模自适应控制

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

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