Regular Papers

International Journal of Control, Automation and Systems 2023; 21(2): 616-629

Published online January 30, 2023

https://doi.org/10.1007/s12555-021-0829-y

© The International Journal of Control, Automation, and Systems

Robust Observer-based Trajectory Tracking Control for Unmanned Aerial Manipulator

Jiacheng Liang, Yanjie Chen*, Ningbin Lai, and Bingwei He

Fuzhou University

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.

Keywords Onboard active manipulator (OAM), robust observer-based control framework, separate control strategy, unmanned aerial manipulator (UAM).

Article

Regular Papers

International Journal of Control, Automation and Systems 2023; 21(2): 616-629

Published online February 1, 2023 https://doi.org/10.1007/s12555-021-0829-y

Copyright © The International Journal of Control, Automation, and Systems.

Robust Observer-based Trajectory Tracking Control for Unmanned Aerial Manipulator

Jiacheng Liang, Yanjie Chen*, Ningbin Lai, and Bingwei He

Fuzhou University

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.

Keywords: Onboard active manipulator (OAM), robust observer-based control framework, separate control strategy, unmanned aerial manipulator (UAM).

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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eISSN 2005-4092
pISSN 1598-6446