Model-free Controls of Manipulator Quadrotor UAV Under Grasping Operation and Environmental Disturbance

Quadrotor unmanned aerial vehicle (UAV) is an ideal carrier for air transportation because of its simple structure and strong maneuverability that can complete vertical take-off and landing and hover operations. In recent years, the combination of quadrotor UAV and manipulator has attracted the most...

Full description

Saved in:
Bibliographic Details
Published in:International journal of control, automation, and systems automation, and systems, 2022-11, Vol.20 (11), p.3689-3705
Main Authors: Guo, Xitong, Niu, Pingjuan, Zhao, Di, Li, Xia, Wang, Shan, Chang, An
Format: Article
Language:English
Subjects:
Air transportation
Algorithms
Control
Control algorithms
Control methods
Engineering
Feedback control
Interference
Maneuverability
Manipulators
Mathematical models
Mechatronics
Neural networks
Proportional integral derivative
Regular Papers
Robot arms
Robotics
Robustness (mathematics)
Sliding mode control
Unmanned aerial vehicles
Unmanned helicopters
Vertical takeoff
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Quadrotor unmanned aerial vehicle (UAV) is an ideal carrier for air transportation because of its simple structure and strong maneuverability that can complete vertical take-off and landing and hover operations. In recent years, the combination of quadrotor UAV and manipulator has attracted the most extensive attention. However, the quadrotor UAV will be significantly interfered with installing the manipulator, making control difficult. In this paper, a complete mathematical model of the manipulator quadrotor UAV is established. The model describes the interference of the manipulator and its operation to the quadrotor UAV. In order to suppress the interference caused by the manipulator, it is necessary to select the appropriate controller. Three model-free control algorithms are designed: proportional-integral-derivative (PID), sliding mode control based on RBF neural network (RBF-based SMC), and high order differential feedback controller (HODFC) and the derivation of RBF-based SMC and HODFC and the proof of closed-loop system are given. The PID controller has the worst anti-interference performance through the analysis of simulation experiments. On the other hand, RBF-based SMC has a time delay, HODFC has the strongest robustness to disturbance and excellent rapidity, which is an ideal method to control manipulator quadrotor UAV.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-021-0614-y