کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

Generalized Robust Control Approach for an Aerial Robot in Grasping Oscillatory Objects

نویسندگان :

Mirshams Baha¹ Fariborz Saghafi²

1- دانشگاه صنعتی شریف 2- دانشگاه صنعتی شریف

کلمات کلیدی :

Aerial Robot،Generalized supper-twisting sliding mode control،Grasping،Oscillatory objects،Strong uncertainties

چکیده :

Scrutinizing the problem of rapid grasping by an articulated aerial robot, it is inferred that the dynamics of the system is substantially affected at the moment of capturing. The problem intensifies when the object similar to trapped creatures in the claws of birds of prey generates stochastic forces and moments with unknown limits. This issue beside model simplification for controller design cause strong disturbances and uncertainties that can lead to system’s instability and collapse. In this study, by presenting a detailed mathematical model of a hunting quadrotor after grasping an oscillatory object in planar motion, a robust controller is designed for the under-actuated flying vehicle based on generalized supper-twisting sliding mode control (GSTSMC). Compared with standard STSMC, the control law has linear correction terms in its algorithm which significantly enhance robustness of the controller and improve its efficiency in terms of convergence rate and tracking error without deteriorating transient response. In this regard, based on some standard indices, the efficiency of the designed controller compared to integral, generalized and supper-twisting sliding mode algorithms (ISMC, GSMC, STSMC) is evaluated through simulation in a wide range of velocities, uncertainties and measurement noise. The results show that the applied control law effectively enables the flying robot to follow the hybrid trajectories with high accuracy in the presence of strong uncertainties.