TY - GEN
T1 - Dynamic Modeling and Active Disturbance Rejection Control of Parallel Aerial Manipulator System
AU - Liu, Jinhui
AU - Li, Zhan
AU - Tian, Yuan
AU - Zheng, Wenlei
N1 - Publisher Copyright:
© 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - In this paper, a 6-DOF Stewart parallel manipulator is installed on a quad-rotor unmanned aerial vehicle in order to solve the problems of low flexibility and difficulty in high precision aerial operations. Based on the reaction force of telescopic legs, the dynamics model of the aerial manipulator system is derived by Newton Euler method. Considering the dynamic influence of the manipulator motion on the quad-rotor, a cascade PID controller is designed for the stabilization control and trajectory tracking control, and the linear quadratic regulator (LQR) method is used for parameter tuning. Based on the cascade structure, the active disturbance rejection controller is designed for the velocity loop and the angular velocity loop, the stability of the system is also analyzed. The results of simulation experiments show that the active disturbance rejection controller can effectively overcome the dynamic influence of the parallel aerial manipulator and obtain good performance.
AB - In this paper, a 6-DOF Stewart parallel manipulator is installed on a quad-rotor unmanned aerial vehicle in order to solve the problems of low flexibility and difficulty in high precision aerial operations. Based on the reaction force of telescopic legs, the dynamics model of the aerial manipulator system is derived by Newton Euler method. Considering the dynamic influence of the manipulator motion on the quad-rotor, a cascade PID controller is designed for the stabilization control and trajectory tracking control, and the linear quadratic regulator (LQR) method is used for parameter tuning. Based on the cascade structure, the active disturbance rejection controller is designed for the velocity loop and the angular velocity loop, the stability of the system is also analyzed. The results of simulation experiments show that the active disturbance rejection controller can effectively overcome the dynamic influence of the parallel aerial manipulator and obtain good performance.
KW - Active disturbance rejection control
KW - Linear quadratic regulator
KW - Parallel aerial manipulator
KW - Trajectory tracking control
UR - https://www.scopus.com/pages/publications/85120635996
U2 - 10.1007/978-981-15-8155-7_274
DO - 10.1007/978-981-15-8155-7_274
M3 - 会议稿件
AN - SCOPUS:85120635996
SN - 9789811581540
T3 - Lecture Notes in Electrical Engineering
SP - 3281
EP - 3293
BT - Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Yu, Xiang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2020
Y2 - 23 October 2020 through 25 October 2020
ER -