Abstract
This paper proposes an innovative ducted fan aerial manipulator, which is particularly suitable for the tasks in confined environment, where traditional multirotors and helicopters would be inaccessible. The dynamic model of the aerial manipulator is established by comprehensive mechanism and parametric frequency-domain identification. On this basis, a composite controller of the aerial platform is proposed. A basic static robust controller is designed via H-infinity synthesis to achieve basic performance, and an adaptive auxiliary loop is designed to estimate and compensate for the effect acting on the vehicle from the manipulator. The computer simulation analyses show good stability of the aerial vehicle under the manipulator motion and good tracking performance of the manipulator end effector, which verify the feasibility of the proposed aerial manipulator design and the effectiveness of the proposed controller, indicating that the system can meet the requirements of high precision operation tasks well.
Highlights
The application of unmanned autonomous robots is increasingly diverse, and the interaction between the autonomous robot system and the environment is developed from information interaction to physical interaction [1]
Some ground mobile robots have been applied to postearthquake rescue [2], some underwater robots have been applied to oceanic biological sample collection [3], and some space robots have been used in space exploration [4]
Underwater robots, and space robots have been widely used, the application of aerial robots is still in its infancy all over the world. e current unmanned aerial vehicles play an important role in monitoring activities, such as aerial photography and high-voltage line inspection [5], but do not have the ability to physically interact with the environment
Summary
The application of unmanned autonomous robots is increasingly diverse, and the interaction between the autonomous robot system and the environment is developed from information interaction (such as sound, light, picture) to physical interaction (replacing manpower to complete operation work) [1]. Compared to helicopter and multirotor, ducted fan has greater thrust in a more compact structure [17], having contact capability and increasing the payload of the system, which is more suitable as the platform of an aerial robot. University of Bologna completed a series of studies on contact dynamics of the single ducted fan with vertical wall [18], but their platform cannot carry the manipulator due to the payload and controllability limitations. E University of Naples Federico II designed a Cartesian space impedance controller based on the integrated dynamic model of the aerial manipulator, which fully considered the coupling effect between the aerial vehicle and the robot arm [27]. A basic static robust controller is designed via H-infinity synthesis for basic performance, and an additional adaptive loop is designed for disturbance estimation and compensation from the manipulator to improve the platform stability and the end effector tracking accuracy. e computer simulations verify the effectiveness of the proposed controller
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