摘要
针对飞行机械臂作业时机械臂运动对飞行控制产生的不利影响,提出一种新型绳驱动飞行机械臂系统,同时提出一种不基于模型的控制策略。该控制策略可分成3个部分:时延估计、非奇异终端滑模控制器和模糊推理系统。时延估计系统可以估计出系统当前的复杂动力学特性,避免建模复杂与模型参数时变的问题;非奇异终端滑模控制器保证系统的闭环稳定性以及快速收敛性;模糊推理系统用来加快系统的收敛速度以及保证系统的控制品质;利用李雅普诺夫稳定性理论证明控制器的稳定性与快速收敛性;最后进行仿真对比实验。研究结果表明:所提出的控制器的控制性能优于终端滑模控制器以及线性滑模控制器的控制性能。
A novel cable-driven aerial manipulator and a model-free control strategy were proposed to deal with the adverse effects of the movement of the manipulator on control quality during operation. The proposed control strategy could be divided into three parts, i.e., delay estimation, non-singular terminal sliding mode controller and fuzzy reasoning system. The current complex dynamic characteristics of the system could be estimated by the time delay estimation system. The closed-loop stability and fast convergence of the system could be guaranteed with the non-singular terminal sliding mode controller. Fuzzy inference system was used to speed up the convergence speed and ensure the control quality of the system. The stability and fast convergence of the controller were proved by lyapunov stability theory. Finally, comparative simulation experiments were carried out. The results show that the proposed controller has better performance than that of terminal sliding mode controller or linear sliding mode controller.
作者
孟思华
王尧尧
陈柏
吴洪涛
MENG Sihua;WANG Yaoyao;CHEN Bai;WU Hongtao(School of Mechanical&Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;The State Key Laboratory of Fluid Power and Mechatronic systems,Zhejiang University,Hangzhou 310027,China)
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2021年第10期3465-3474,共10页
Journal of Central South University:Science and Technology
基金
国家自然科学基金资助项目(52175097)
中国博士后基金资助项目(2019T120424)
流体动力与机电系统国家重点实验室开放基金资助项目(GZKF-201915)。
关键词
绳驱动机械臂
飞行机械臂
时延估计
终端滑模
模糊系统
cable-driven manipulator
aerial manipulator
time delay estimation
terminal sliding model
fuzzy system
