无传感器接触力估计和强大的阻抗控制,用于四旋翼操纵系统
Alaa Khalifa1, Mohamed Fanni2, Ahmed Khalifa3
1Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menouf 32952, Egypt. alaa.khalifa@el-eng.menofia.edu.eg.
Scientific reports
|November 20, 2024
概括
本研究引入了对空中操纵系统的强大控制方案,增强了对具有挑战性的任务的力估计和阻抗控制. 新方法提高了复杂的动态环境中的稳定性和跟踪性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 航空航天工程 航空航天工程
背景情况:
- 空中操纵系统由于其独特的能力而越来越受研究,但面临着重大挑战.
- 这些挑战包括固有的不稳定性,快速动态,强大的非线性,参数变化,外部干扰和复杂的反向动力学.
- 精确的终端效应器定位和力估计对于操纵任务至关重要.
研究的目的:
- 为空中操纵系统提出一个强大的力估计和阻抗控制方案.
- 通过开发一种新的方法来解决现有的力量估计技术的局限性.
- 解决复杂的逆动力学问题,确保系统的稳定性.
主要方法:
- 使用干扰观察者 (DOb) 技术来实现稳定性.
- 实现一个低计算能力的线性控制器用于跟踪和性能.
- 采用快速跟踪递归最小方程 (FTRLS) 算法与DOb线性化结合用于力估计.
- 使用基于雅可比的算法解决反向动力学.
主要成果:
- 拟议方案通过干扰观察器 (DOb) 证明了其稳定性.
- 使用DOb线性化和快速跟踪递归最小方程 (FTRLS) 的新技术克服了先前方法的局限性.
- 该系统成功实现了任务空间轨迹跟踪和阻抗控制.
- 数字模拟证实了拟议的算法的效率和稳定性.
结论:
- 开发的强大的力估计和阻抗控制方案有效地解决了空中操纵的关键挑战.
- DOb和FTRLS的整合为远程操作的部队识别提供了重大进展.
- 提出的方法为复杂的空中操纵任务提供了稳定且计算效率高的解决方案.
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