Robust Observer-based Trajectory Tracking Control for Unmanned Aerial Manipulator
This paper aims at the stable motion control problem of the unmanned aerial manipulator (UAM) with internal interactions and external environment disturbances, and proposes a robust observer-based trajectory tracking control framework. Considering the large-dimensional nonlinearity and underactuated...
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| Published in | International journal of control, automation, and systems Vol. 21; no. 2; pp. 616 - 629 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.02.2023
Springer Nature B.V 제어·로봇·시스템학회 |
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| Abstract | This paper aims at the stable motion control problem of the unmanned aerial manipulator (UAM) with internal interactions and external environment disturbances, and proposes a robust observer-based trajectory tracking control framework. Considering the large-dimensional nonlinearity and underactuated of UAM dynamics, a separate control scheme is adopted, including a geometric controller for quadrotor UAV and prescribed performance control (PPC) method for onboard active manipulator (OAM). In particular, an observer-based geometric control scheme is developed for the position and attitude tracking of the quadrotor UAV to ensure steady flight, where the quadrotor UAV attitude is represented by the rotation matrix to eliminate singularities or ambiguities. Subsequently, an observer-based PPC method is presented for the OAM to guarantee the prescribed transient and steady-state performance responses. Finally, the simulation comparisons and experimental study validate the effectiveness and performances of the proposed control framework. |
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| AbstractList | This paper aims at the stable motion control problem of the unmanned aerial manipulator (UAM) with internal interactions and external environment disturbances, and proposes a robust observer-based trajectory tracking control framework. Considering the large-dimensional nonlinearity and underactuated of UAM dynamics, a separate control scheme is adopted, including a geometric controller for quadrotor UAV and prescribed performance control (PPC) method for onboard active manipulator (OAM). In particular, an observer-based geometric control scheme is developed for the position and attitude tracking of the quadrotor UAV to ensure steady flight, where the quadrotor UAV attitude is represented by the rotation matrix to eliminate singularities or ambiguities. Subsequently, an observer-based PPC method is presented for the OAM to guarantee the prescribed transient and steady-state performance responses. Finally, the simulation comparisons and experimental study validate the effectiveness and performances of the proposed control framework. This paper aims at the stable motion control problem of the unmanned aerial manipulator (UAM) with internal interactions and external environment disturbances, and proposes a robust observer-based trajectory tracking control framework. Considering the large-dimensional nonlinearity and underactuated of UAM dynamics, a separate control scheme is adopted, including a geometric controller for quadrotor UAV and prescribed performance control (PPC) method for onboard active manipulator (OAM). In particular, an observer-based geometric control scheme is developed for the position and attitude tracking of the quadrotor UAV to ensure steady flight, where the quadrotor UAV attitude is represented by the rotation matrix to eliminate singularities or ambiguities. Subsequently, an observer-based PPC method is presented for the OAM to guarantee the prescribed transient and steady-state performance responses. Finally, the simulation comparisons and experimental study validate the effectiveness and performances of the proposed control framework. KCI Citation Count: 4 |
| Author | He, Bingwei Lai, Ningbin Liang, Jiacheng Chen, Yanjie |
| Author_xml | – sequence: 1 givenname: Jiacheng surname: Liang fullname: Liang, Jiacheng organization: College of Electrical and Information Engineering, Hunan University, National Engineering Research Center of Robot Visual Perception and Control Technology – sequence: 2 givenname: Yanjie orcidid: 0000-0001-9750-9177 surname: Chen fullname: Chen, Yanjie email: chenyanjiehnu@gmail.com organization: School of Mechanical Engineering and Automation, Fuzhou University, Key Laboratory of System Control and Information Processing, Ministry of Education – sequence: 3 givenname: Ningbin surname: Lai fullname: Lai, Ningbin organization: School of Mechanical Engineering and Automation, Fuzhou University – sequence: 4 givenname: Bingwei surname: He fullname: He, Bingwei organization: School of Mechanical Engineering and Automation, Fuzhou University |
| BackLink | https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002926560$$DAccess content in National Research Foundation of Korea (NRF) |
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| Cites_doi | 10.1109/TII.2021.3117262 10.1109/TMECH.2016.2523602 10.1016/j.isatra.2019.02.028 10.1109/TCST.2019.2948915 10.1109/TMECH.2018.2837005 10.1109/TIE.2018.2838065 10.1109/TIE.2019.2956414 10.1109/TIE.2012.2183841 10.1016/j.matcom.2021.03.039 10.5772/53754 10.1007/978-94-015-8034-2 10.1109/LRA.2016.2516245 10.1109/TIE.2016.2598321 10.1109/TMECH.2017.2681179 10.1109/TMECH.2017.2682283 10.1109/LRA.2019.2918448 10.1109/TNNLS.2018.2854699 10.1109/TCST.2020.3024805 10.1109/TIE.2018.2793178 10.1061/(ASCE)AS.1943-5525.0001375 10.1109/MCS.2011.940459 10.1109/TIE.2019.2958305 10.1109/TRO.2017.2750693 10.1109/TCST.2017.2711602 10.1109/TSMC.2016.2645942 10.1109/MRA.2018.2888911 10.1109/ICRA.2015.7139760 10.1109/ICRA.2013.6631279 10.23919/ECC51009.2020.9143707 10.1109/IROS.2017.8206398 10.1109/IROS.2014.6942538 10.1109/CDC.2010.5717652 |
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| Keywords | robust observer-based control framework separate control strategy unmanned aerial manipulator (UAM) Onboard active manipulator (OAM) |
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| Snippet | This paper aims at the stable motion control problem of the unmanned aerial manipulator (UAM) with internal interactions and external environment disturbances,... |
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| SubjectTerms | Control Engineering Manipulators Mechatronics Motion control Regular Papers Robot arms Robotics Robust control Tracking control Trajectory control Unmanned aerial vehicles 제어계측공학 |
| Title | Robust Observer-based Trajectory Tracking Control for Unmanned Aerial Manipulator |
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