论文标题
带有单个IMU传感器的电缆悬架空中操纵器的最佳振荡阻尼控制
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor
论文作者
论文摘要
本文介绍了电缆悬架空中操纵器（SAM）的振荡阻尼控制的设计。 SAM被建模为双子摆，它可以生成身体扳手作为控制动作。主要的挑战是，只有一个在板上IMU传感器没有提供有关系统状态的完整信息。为了克服这一困难，我们设计了一个由简化的SAM模型激励的控制器。提出的控制器非常简单但可靠，可以建模不确定性。此外，我们通过以输出反馈线性二次调节问题的形式制定提出的控制器来提出增益调整规则。因此，可以以最少的能耗来快速衰减振荡。提出的方法通过模拟和实验得到验证。
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provide full information on the system state. To overcome this difficulty, we design a controller motivated by a simplified SAM model. The proposed controller is very simple yet robust to model uncertainties. Moreover, we propose a gain tuning rule by formulating the proposed controller in the form of output feedback linear quadratic regulation problem. Consequently, it is possible to quickly dampen oscillations with minimal energy consumption. The proposed approach is validated through simulations and experiments.
