Visual-servoing tracking and physical interaction admittance control for an unmanned aerial manipulator
CHEN Yan-jie
LAN Li-min
WU Yang-ning
ZHANG Hui
WANG Yao-nan
Abstract：When engaging in tasks involving dynamic target tracking and physical interactions,unmanned aerial ma-nipulator(UAM)commonly encounter challenges,such as the difficulty of obtaining speed information,slow tracking control speeds and strong disturbances during physical interactions.This paper presents a series of solutions to address these challenges.Firstly,an image-based adaptive velocity observer is introduced to mitigate the issue of acquiring speed information.By estimating the relative velocity between the UAM and dynamic targets,this approach reduces noise and errors in speed measurements.Subsequently,to address the problem of slow tracking control speeds,a non-singular fast terminal sliding mode visual servo control method is proposed,ensuring stable tracking of dynamic targets within a fi-nite time frame.Moreover,considering the significant perturbations introduced by onboard manipulators during physical contact operations,a backstepping admittance control strategy with adaptive upper-bound estimation is proposed for the onboard manipulator to achieve compliant behavior while minimizing the influence of force sensor noise.Finally,the ef-fectiveness of our approach is validated through dynamic target tracking and physical interaction experiments conducted in both simulated and real-world scenarios.The results demonstrate the capability to achieve rapid visual servoing tracking performance for UAMs without relying on relative velocity information of dynamic targets and the ability to maintain stable control performance during physical interactions with humans.
Keywords：unmanned aerial manipulatorvisual servoingnon-singular fast terminal sliding mode controlbackstep-ping controladaptive control
Publication Date：2025-07-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：12( 1367-1378 )