Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator
The aerial manipulator is a novel flying robot consisting of an unmanned aerial vehicle (UAV) and a multi-degree-of-freedom (DoF) robotic arm. It can actively interact with the environment to conduct dangerous or inaccessible tasks for humans. In this paper, we propose a composite control scheme con...
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/7881535 |
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| author | Lirui Shen Pengjun Mao Qian Fang Jun Wang |
| author_facet | Lirui Shen Pengjun Mao Qian Fang Jun Wang |
| author_sort | Lirui Shen |
| collection | DOAJ |
| description | The aerial manipulator is a novel flying robot consisting of an unmanned aerial vehicle (UAV) and a multi-degree-of-freedom (DoF) robotic arm. It can actively interact with the environment to conduct dangerous or inaccessible tasks for humans. In this paper, we propose a composite control scheme considering force and position for the aerial manipulator to operate in steady contact with the environment when influenced by external disturbances. First, a contact force control method without employing the force sensor is obtained on the mechanical relationship of the system’s contact with the environment. Second, we regard the system’s internal coupling and external disturbance as lumped disturbances and design an extended state observer (ESO) to estimate them. Combined with the disturbance estimation and the nonsingular global fast sliding mode algorithm, a controller derived from the Lyapunov theory is proposed. Finally, we compare the proposed controller with the other four controllers through simulations and actual flight experiments. The results show that the proposed controller can effectively restrain disturbances, reduce convergence time, and guarantee steady contact under external disturbances. |
| format | Article |
| id | doaj-art-a3539c32b3084477a238ddce00a369b4 |
| institution | Kabale University |
| issn | 1687-5974 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-a3539c32b3084477a238ddce00a369b42025-08-20T03:38:16ZengWileyInternational Journal of Aerospace Engineering1687-59742022-01-01202210.1155/2022/7881535Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial ManipulatorLirui Shen0Pengjun Mao1Qian Fang2Jun Wang3School of Mechanical and Electrical EngineeringSchool of Mechanical and Electrical EngineeringSchool of Mechanical and Electrical EngineeringSchool of Mechanical and Electrical EngineeringThe aerial manipulator is a novel flying robot consisting of an unmanned aerial vehicle (UAV) and a multi-degree-of-freedom (DoF) robotic arm. It can actively interact with the environment to conduct dangerous or inaccessible tasks for humans. In this paper, we propose a composite control scheme considering force and position for the aerial manipulator to operate in steady contact with the environment when influenced by external disturbances. First, a contact force control method without employing the force sensor is obtained on the mechanical relationship of the system’s contact with the environment. Second, we regard the system’s internal coupling and external disturbance as lumped disturbances and design an extended state observer (ESO) to estimate them. Combined with the disturbance estimation and the nonsingular global fast sliding mode algorithm, a controller derived from the Lyapunov theory is proposed. Finally, we compare the proposed controller with the other four controllers through simulations and actual flight experiments. The results show that the proposed controller can effectively restrain disturbances, reduce convergence time, and guarantee steady contact under external disturbances.http://dx.doi.org/10.1155/2022/7881535 |
| spellingShingle | Lirui Shen Pengjun Mao Qian Fang Jun Wang Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator International Journal of Aerospace Engineering |
| title | Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator |
| title_full | Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator |
| title_fullStr | Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator |
| title_full_unstemmed | Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator |
| title_short | Nonsingular Global Fast Terminal Sliding Mode Control with Extended State Observer for Contact Force Regulation in Aerial Manipulator |
| title_sort | nonsingular global fast terminal sliding mode control with extended state observer for contact force regulation in aerial manipulator |
| url | http://dx.doi.org/10.1155/2022/7881535 |
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