Autonomous control design of an unmanned aerial manipulator for contact inspection

被引：10

作者：

Zeng, Junhao ^{[1
]}

Zhong, Hang ^{[2
]}

Wang, Yaonan ^{[1
]}

Fan, Shuangwen ^{[1
]}

Zhang, Hui ^{[2
]}

机构：

[1] Hunan Univ, Coll Elect & Informat Engn, Natl Engn Res Ctr RVC, Changsha, Peoples R China

[2] Hunan Univ, Sch Robot, Changsha, Peoples R China

来源：

ROBOTICA | 2023年 / 41卷 / 04期

关键词：

aerial manipulation; impedance control; geometric control; visual servo; force tracking; SYSTEM;

D O I：

10.1017/S0263574722001588

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In recent years, autonomous control based on contact inspections in unknown environments is a new hot and difficult point in robotics research. This paper presents a new control law for unmanned aerial manipulator (UAM) to perform contact inspection tasks on vertical surfaces. The selected circular image feature decouples the position and attitude of UAM, so an image-based impedance control is proposed to control the position and track the contact force. The developed controller uses geometric methods to control the attitude. In addition, the designed aerial manipulator decouples the roll and pitch of the UAV from the UAV, which improves the system's stability. Experiments have been carried out to demonstrate the feasibility of this method.

引用

页码：1145 / 1158

页数：14

共 50 条

[41] Hierarchical control architecture of autonomous control for unmanned combat aerial vehicles
Chen, Hai
Wang, Xinmin
Zhao, Kairui
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica, 2008, 29 (SUPPL.): : 224 - 228
[42] Robust adaptive control for unmanned aerial manipulator in dynamic gliding grasping
Zhang Z.-G.
Chen Y.-J.
Zhan W.-W.
He B.-W.
Lin L.-X.
Wang Y.-N.
Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2021, 38 (06): : 775 - 783
[43] Autonomous flight strategy of an unmanned aerial vehicle with multimodal information for autonomous inspection of overhead transmission facilities
Jeon, Munsu
Moon, Joonhyeok
Jeong, Siheon
Oh, Ki-Yong
COMPUTER-AIDED CIVIL AND INFRASTRUCTURE ENGINEERING, 2024, 39 (14) : 2159 - 2186
[44] An Unmanned Aerial Vehicle Framework Design for Autonomous Flight Path
Janarthanan, Ayshwarya
Ho, H. W.
Gopal, Lenin
Shanmugam, Veeramani
Wong, W. K.
2019 7TH INTERNATIONAL CONFERENCE ON SMART COMPUTING & COMMUNICATIONS (ICSCC), 2019, : 266 - 270
[45] Design and implementation of an unmanned aerial vehicle for autonomous firefighting missions
Qin, Hailong
Cui, Jin Q.
Li, Jiaxin
Bi, Yingcai
Lan, Menglu
Shan, Mo
Liu, Wenqi
Wang, Kangli
Lin, F.
Zhang, Y. F.
Chen, Ben M.
2016 12TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2016, : 62 - 67
[46] Experiments on Behavioral Coordinated Control of an Unmanned Aerial Vehicle Manipulator System
Baizid, K.
Giglio, G.
Pierri, F.
Trujillo, M. A.
Antonelli, G.
Caccavale, F.
Viguria, A.
Chiaverini, S.
Ollero, A.
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 4680 - 4685
[47] Dynamics and Control of an Unmanned Aerial Vehicle employing a Delta-manipulator
Gkountas, Konstantinos
Ntekoumes, Georgios
Tzes, Anthony
2017 25TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2017, : 1207 - 1212
[48] Learning Unmanned Aerial Vehicle Control for Autonomous Target Following
Li, Siyi
Liu, Tianbo
Zhang, Chi
Yeung, Dit-Yan
Shen, Shaojie
PROCEEDINGS OF THE TWENTY-SEVENTH INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE, 2018, : 4936 - 4942
[49] Autonomous Navigation and Control of Unmanned Aerial Systems in the National Airspace
Hlas, Michael
Straub, Jeremy
2016 IEEE AEROSPACE CONFERENCE, 2016,
[50] Control design for unmanned aerial vehicle swarming
Ilaya, O.
Bill, C.
Evans, M.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 2008, 222 (G4) : 549 - 567

← 1 2 3 4 5 →