Contact transition control with acceleration feedback enhancement for a quadrotor | |
Yi K(易奎)2,3,5; Han JD(韩建达)1,4; Liang X(梁潇)1,4; He YQ(何玉庆)2,3 | |
刊名 | ISA Transactions |
2021 | |
卷号 | 109页码:288-294 |
关键词 | Contact transition Acceleration feedback Different-stiffness environment Quadrotor Stable contact |
ISSN号 | 0019-0578 |
产权排序 | 1 |
英文摘要 | A stable transition from free-motion to contact phase is extremely significant for a UAV interacting with its objects and environment. Oscillations may occur at the contact point if the force controller of the UAV fails to accommodate to the environment parameters, which are usually unknown to the UAV. In this paper, the acceleration feedback control is proposed to enhance the robustness of a classic force controller. This intends to achieve a smooth and stable contact transition of the UAV while interacting with different stiffness environments with non-zero approaching velocity. Extensive flight tests are conducted on a quadrotor UAV to verify the performance of the proposed algorithm with respect to different-stiffness environments. The experimental results are also compared with those without the acceleration feedback enhancement, to demonstrate the improvement of the proposed scheme. |
资助项目 | National Natural Science Foundation of China[91848203] ; National Natural Science Foundation of China[U1608253] ; National Natural Science Foundation of China[61433016] ; Science and Technology Planning Project of Guangdong Province, China[2017B010116002] |
WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
语种 | 英语 |
WOS记录号 | WOS:000618859000003 |
资助机构 | National Natural Science Foundation of China under Grant 91848203, U1608253 and 61433016 ; Science and Technology Planning Project of Guangdong Province, China under Grant 2017B010116002. |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/27844] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Han JD(韩建达) |
作者单位 | 1.Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin 300350, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 4.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China 5.University of Chinese Academy of Sciences, Beijing 100049, China |
推荐引用方式 GB/T 7714 | Yi K,Han JD,Liang X,et al. Contact transition control with acceleration feedback enhancement for a quadrotor[J]. ISA Transactions,2021,109:288-294. |
APA | Yi K,Han JD,Liang X,&He YQ.(2021).Contact transition control with acceleration feedback enhancement for a quadrotor.ISA Transactions,109,288-294. |
MLA | Yi K,et al."Contact transition control with acceleration feedback enhancement for a quadrotor".ISA Transactions 109(2021):288-294. |
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