Gliding grasping analysis and hybrid force/position control for unmanned aerial manipulator system

In this paper, considering the control difficulty of the unmanned aerial manipulator (UAM) interacting with environments, a force analysis during gliding grasping and a hybrid force/position control strategy are proposed for the UAM to enhance control performances during dynamic gliding grasping respectively. First, the instantaneous contact force during the gliding grasping is analyzed by the impulse and momentum theorem, and some factors affecting grasping performance are considered to complete an analysis of grasping force including the irregular shape of the object, the object scrolling, and geometrically asymmetric grasping. Meanwhile, the mass of the grasping object and the inertia tensor are considered unknown bounded items. As a benefit, an accurate dynamics model of the UAM gliding grasping is guaranteed. Second, a hybrid force/position controller based on an adaptive neural network estimator is adopted for UAM to overcome both internal disturbances and external disturbances. The proposed method stability is analyzed through the Lyapunov stability theory. Finally, through a dynamic gliding grasping simulation, the effectiveness and superiority of the proposed scheme are verified.