scholarly journals Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3019
Author(s):  
Yibo Zhang ◽  
Bin Xu ◽  
Changle Xiang ◽  
Wei Fan ◽  
Tianfu Ai
Keyword(s):  
Controller Design ◽  
Experimental Tests ◽  
Adaptive Controller ◽  
Physical Contact ◽  
Physical Interaction ◽  
The Novel ◽  
Interaction Control ◽  
Ducted Fan ◽  
Aerial Manipulator ◽  
Confined Environment

An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design.

scholarly journals An Innovative Aerial Manipulator with Tandem Ducted Fans: Modeling, Control, and Simulation

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-24 ◽  
Author(s):  
Yibo Zhang ◽  
Wei Fan ◽  
Changle Xiang ◽  
Bin Xu ◽  
Tianfu Ai ◽  
...  
Keyword(s):  
Robust Controller ◽  
H Infinity ◽  
Domain Identification ◽  
Ducted Fan ◽  
Aerial Manipulator ◽  
Basic Performance ◽  
Aerial Vehicle ◽  
Manipulator Design ◽  
Confined Environment ◽  
Parametric Frequency

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.

Novel Moving Mass Flight Vehicle and Its Equivalent Experiment

2018 ◽  
Vol 140 (11) ◽  
Author(s):  
Jianqing Li ◽  
Changsheng Gao ◽  
Tianming Feng ◽  
Wuxing Jing
Keyword(s):  
Controller Design ◽  
Adaptive Controller ◽  
Target System ◽  
Experimental Setup ◽  
Moving Mass ◽  
The Novel ◽  
Flight Vehicle ◽  
Inertia Moment ◽  
Control Authority ◽  
Moving Mass Control

This paper presents a novel configuration of flight vehicle with moving mass control. We focus on the development of the proposed control mechanism and investigate the feasibility of an equivalent experimental setup. First, the effect of the moving mass parameters on the control authority is investigated. Then, a control law based on immersion and invariance (I&I) theory is presented for the moving mass control system. In the design process, we select a first-order target system to reduce the difficulty of controller design. To deal with the coupling caused by the additional inertia moment, which is generated by the motion of the moving mass, the extended state observer (ESO) is designed. The proposed adaptive controller is simulated and tested on the experimental setup. Finally, the simulation results validate the quality of the proposed adaptive controller, which ensures a good performance in the novel configuration with internal moving mass.

Adaptive Controller Design of Pneumatic Teleoperation System

2015 ◽  
Author(s):  
Mohamad Anwar Baayoun ◽  
Naseem Daher ◽  
Matthias Liermann
Keyword(s):  
Adaptive Control ◽  
Force Feedback ◽  
Controller Design ◽  
Control Design ◽  
Force Sensor ◽  
Adaptive Controller ◽  
Physical Contact ◽  
Variable Environment ◽  
Linear Controller ◽  
Teleoperation System

This paper presents an adaptive control design of a pneumatic teleoperation system that could be useful for applications like MRI-guided surgery. The system under study is special because of its reduced number of components compared to other bilateral teleoperation systems, which reduces cost and complexity. The direct fluidic connection and the force feedback that is transferred to the human operator allow the operator to feel as if s/he were having physical contact with the environment without the need for a force sensor on the slave actuator. A simulation model that allows stability and transparency assessment is presented in detail. A linear controller is optimized for various operating remote environments via transparency assessment. The linear controller leads to good results for certain operating environments, but its tuning is dependent on the impedance characteristic of the environments both on the master and slave sides. Since the system must perform under parametric uncertainties on both sides of the teleoperator, an adaptive control scheme is developed. A self-tuning regulator is designed to allow the teleoperator to cope with a variable environment. The control design is validated in simulation and yielded satisfactory performance under multiple environment settings.

Neural network adaptive control of nonlinear systems preceded by hysteresis

2020 ◽  
Vol 32 (1) ◽  
pp. 104-112
Author(s):  
Xinlong Zhao ◽  
Qiang Su ◽  
Shengxin Chen ◽  
Yonghong Tan
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Controller Design ◽  
Experimental Tests ◽  
Adaptive Controller ◽  
Auxiliary Variable ◽  
Proposed Model ◽  
And Control ◽  
Novel Model ◽  
Hysteresis Characteristics

Neural network adaptive control is proposed for a class of nonlinear system preceded by hysteresis. A novel model is developed to represent the hysteresis characteristics in explicit form. Furthermore, the auxiliary variable of the proposed model is proved to be bounded, which is essential for controller design. Then, neural network adaptive controller is directly applied to mitigate the influence of the hysteresis without constructing the hysteresis inverse. The updated law and control law of the controllers are derived from Lyapunov stability theorem, so that the boundedness of the close-loop system is guaranteed. Finally, the experimental tests are carried out to validate the effectiveness of the proposed approach.

scholarly journals Admittance control for physical human–robot interaction

2018 ◽  
Vol 37 (11) ◽  
pp. 1421-1444 ◽  
Author(s):  
Arvid QL Keemink ◽  
Herman van der Kooij ◽  
Arno HA Stienen
Keyword(s):  
High Performance ◽  
Controller Design ◽  
Design Guidelines ◽  
Human Robot Interaction ◽  
Physical Interaction ◽  
Admittance Control ◽  
Interaction Control ◽  
Force Signal ◽  
And Performance ◽  
The Stability

This paper presents an overview of admittance control as a method of physical interaction control between machines and humans. We present an admittance controller framework and elaborate control scheme that can be used for controller design and development. Within this framework, we analyze the influence of feed-forward control, post-sensor inertia compensation, force signal filtering, additional phase lead on the motion reference, internal robot flexibility, which also relates to series elastic control, motion loop bandwidth, and the addition of virtual damping on the stability, passivity, and performance of minimal inertia rendering admittance control. We present seven design guidelines for achieving high-performance admittance controlled devices that can render low inertia, while aspiring coupled stability and proper disturbance rejection.

scholarly journals Indirect Adaptive Attitude Control for a Ducted Fan Vertical Takeoff and Landing Microaerial Vehicle

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shouzhao Sheng ◽  
Chenwu Sun ◽  
Hong Zhao
Keyword(s):  
Adverse Effect ◽  
Adaptive Learning ◽  
Attitude Control ◽  
Tracking Error ◽  
Experimental Tests ◽  
Adaptive Controller ◽  
Adaptation Strategy ◽  
Ducted Fan ◽  
Attitude Tracking ◽  
Attitude Tracking Control

The present paper addresses an attitude tracking control problem of a ducted fan microaerial vehicle. The proposed indirect adaptive controller can greatly reduce tracking error in the initial stage of the adaptive learning process by using an error compensation strategy and can achieve good capability to eliminate the adverse effect of measurement noises on the convergence of adjustable parameters. Moreover, the learning rate adaptation strategy is proposed to further minimize the adverse effect of large learning rates on the convergence of adjustable parameters. The experimental tests have illustrated the effectiveness of the proposed adaptive controller.

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