Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator
Joint Authors
Source
International Journal of Aerospace Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-10-21
Country of Publication
Egypt
No. of Pages
12
Abstract EN
The robust control issues in trajectory tracking of an unmanned aerial robot (UAR) are challenging tasks due to strong parametric uncertainties, large nonlinearities, and high couplings in robot dynamics.
This paper investigates the dynamical modelling and robust control of an aerial robot using a hexarotor with a 2-degrees-of-freedom (DOF) manipulator in a complex aerial environment.
Firstly, the kinematic model and dynamic model of the aerial robot are developed by the Euler-Lagrange method.
Afterwards, a linear active disturbance rejection control is designed for the robot to achieve a high-accuracy trajectory tracking goal under heavy lumped disturbances.
In this control scheme, the modelling uncertainties and external disturbances are estimated by a linear extended state observer, and the high tracking precision is guaranteed by a proportion-differentiation (PD) feedback control law.
Meanwhile, an artificial intelligence algorithm is applied to adjust the control parameters and ensure that the state variables of the robot converge to the references smoothly.
Furthermore, it requires no detailed knowledge of the bounds on unknown dynamical parameters.
Lastly, numerical simulations and experiments validate the efficiency and advantages of the proposed method.
American Psychological Association (APA)
Ding, Li& Hongtao, Wu. 2019. Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator. International Journal of Aerospace Engineering،Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1156691
Modern Language Association (MLA)
Ding, Li& Hongtao, Wu. Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator. International Journal of Aerospace Engineering No. 2019 (2019), pp.1-12.
https://search.emarefa.net/detail/BIM-1156691
American Medical Association (AMA)
Ding, Li& Hongtao, Wu. Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator. International Journal of Aerospace Engineering. 2019. Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1156691
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1156691