Adaptive output control of a mobile manipulator hanging from a quadcopter unmanned vehicle
| Autor: | Mariana Ballesteros-Escamilla, David Cruz-Ortiz, Alberto Luviano-Juárez, Isaac Chairez |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Controller design
0209 industrial biotechnology Quadcopter Adaptive control Computer science Mobile manipulator Applied Mathematics 020208 electrical & electronic engineering Estimator PID controller 02 engineering and technology Observer (special relativity) Computer Science Applications 020901 industrial engineering & automation Robotic systems Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Electrical and Electronic Engineering Instrumentation |
| Zdroj: | ISA Transactions. 94:200-217 |
| ISSN: | 0019-0578 |
| DOI: | 10.1016/j.isatra.2019.04.002 |
| Popis: | This article summarizes the comprehensive design of an adaptive control that solves the trajectory tracking of a four-rotor unmanned aerial vehicle supplied by an own-designed grasping device. The controller design uses the regular proportional-derivative (PD) structure which is common to solve regulation, as well as tracking problems for robotic systems. The PD structure needs the estimation of the time-derivative to be exerted on-line. The super-twisting algorithm served to operate as a decentralized estimator of the derivatives for the tracking errors. The controller gains were adjusted by the differential laws aimed to track attainable reference trajectories. The adaptive strategy adjusts the controller gains enforcing the convergence of both the estimation and the tracking errors. A numerical example showed the observer/controller performance. A comparison with a classic non-adaptive PD controller confirms the effectiveness on the tracking task by the proposed design. In addition, a set of virtual numerical evaluations using the parameters of a real quadcopter system confirmed the performance benefits of the adaptive controller based on the PD structure aided with the estimation of the velocity obtained by the observer. |
| Databáze: | OpenAIRE |
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