Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm
The control of quadrotor equipped with a robotic arm has received growing challenges. This article proposes a new adaptive control strategy of quadrotor equipped with a 2-degree-of-freedom robotic arm. To consider the positional variety of the center of gravity caused by the motion of the robotic ar...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-08-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814018778639 |
| _version_ | 1828318272875921408 |
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| author | Ran Jiao Wusheng Chou Rui Ding Mingjie Dong |
| author_facet | Ran Jiao Wusheng Chou Rui Ding Mingjie Dong |
| author_sort | Ran Jiao |
| collection | DOAJ |
| description | The control of quadrotor equipped with a robotic arm has received growing challenges. This article proposes a new adaptive control strategy of quadrotor equipped with a 2-degree-of-freedom robotic arm. To consider the positional variety of the center of gravity caused by the motion of the robotic arm, the kinematic and dynamic models are built. Based on the presented models, a backstepping and sliding mode controller with a terminal sliding mode manifold is first applied to cope with the condition in which the robotic arm is motionless relative to the quadrotor. As the evolvement of the backstepping and sliding mode controller, a novel adaptive backstepping and sliding mode controller is then designed for the vehicle with the robotic arm wavering. The robustness and effectiveness of the proposed control law are investigated through both simulations and flight tests. With the proposed control laws, several simulations are conducted in conditions of both a variable and a constant center of gravity, and the performance of hovering is tested with a variable center of gravity in an experiment. Overall results show that the proposed adaptive backstepping control could estimate and compensate the variable center of gravity which may seriously influence the stabilization of quadrotor flying in the air. |
| first_indexed | 2024-04-13T17:39:41Z |
| format | Article |
| id | doaj.art-6723ace3eb7443099f2bd7817f0cd8a9 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-04-13T17:39:41Z |
| publishDate | 2018-08-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-6723ace3eb7443099f2bd7817f0cd8a92022-12-22T02:37:13ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402018-08-011010.1177/1687814018778639Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic armRan Jiao0Wusheng Chou1Rui Ding2Mingjie Dong3School of Mechanical Engineering and Automation, Beihang University, Beijing, P.R. ChinaState Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, P.R. ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, P.R. ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, P.R. ChinaThe control of quadrotor equipped with a robotic arm has received growing challenges. This article proposes a new adaptive control strategy of quadrotor equipped with a 2-degree-of-freedom robotic arm. To consider the positional variety of the center of gravity caused by the motion of the robotic arm, the kinematic and dynamic models are built. Based on the presented models, a backstepping and sliding mode controller with a terminal sliding mode manifold is first applied to cope with the condition in which the robotic arm is motionless relative to the quadrotor. As the evolvement of the backstepping and sliding mode controller, a novel adaptive backstepping and sliding mode controller is then designed for the vehicle with the robotic arm wavering. The robustness and effectiveness of the proposed control law are investigated through both simulations and flight tests. With the proposed control laws, several simulations are conducted in conditions of both a variable and a constant center of gravity, and the performance of hovering is tested with a variable center of gravity in an experiment. Overall results show that the proposed adaptive backstepping control could estimate and compensate the variable center of gravity which may seriously influence the stabilization of quadrotor flying in the air.https://doi.org/10.1177/1687814018778639 |
| spellingShingle | Ran Jiao Wusheng Chou Rui Ding Mingjie Dong Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm Advances in Mechanical Engineering |
| title | Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm |
| title_full | Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm |
| title_fullStr | Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm |
| title_full_unstemmed | Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm |
| title_short | Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm |
| title_sort | adaptive robust control of quadrotor with a 2 degree of freedom robotic arm |
| url | https://doi.org/10.1177/1687814018778639 |
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