Rotor-flying manipulator modeling and control with dynamic compensation for gravity offset
ZHONG Hang
WANG Yao-nan
LI Ling
LIU Hong-jian
LI Li
Abstract：Equipping multi-joint manipulator on a rotor-flying platform we constitute a special system which can ac-tively manipulate in environment. In this system, there exists a strong coupling between the rotor-flying platform and the manipulator. To deal with the reactive force on the rotor-flying platform from the manipulator, we formulate the kinematic and dynamic equations of the system, and propose a backstepping-based control scheme for dynamically compensating the center of gravity according to the dynamic computation position of the center of gravity;meanwhile, a second-order low-pass filter is designed for compensating the measurement noise. The system stability is proved through the Lyapunov stability theory. Simulation and experimental results validate the effectiveness of the proposed control method and demon-strate the superiority in trajectory tracking and attitude stabilization over those methods with no compensation for center of gravity under the same conditions.
Keywords：rotor-flying manipulatorcenter of gravity compensationtrajectory tracking controllerbackstepping con-trol
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 311-320 )