Robust control of Chat-PM: A switched singular system with mode-dependent bounded nonlinearity

IF 5 1区工程技术 Q1 ENGINEERING, AEROSPACE Aerospace Science and Technology Pub Date : 2024-11-07 DOI:10.1016/j.ast.2024.109718

Chengzhe Han, Lixian Zhang, Yihang Ding, Yifei Dong, Yimin Zhu, Tong Wu, Jianan Yang

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引用次数: 0

Abstract

This paper is concerned with the robust control of the composite hybrid aerial-terrestrial precise manipulator (Chat-PM), a quadrotor-based robot with aerial/terrestrial movement and payload transportation capabilities. Given the distinct dynamics between aerial and terrestrial locomotion modes, Chat-PM is modeled as a type of switched singular system. A nonlinear term is contained in the system to model the coupling between translational and rotational movements of Chat-PM, which is proven to be norm-bounded and mode-dependent. Besides, the estimation error of the robotic arm's interaction force/torque is treated as the disturbance of the system. By means of the mixed

H_{2}

H_{\infty}

approach, numerically testable stability criteria are obtained, based on which the existence conditions for controllers with satisfactory transient and disturbance attenuation performance are provided. Compared to traditional studies assuming the nonlinearity term to be mode-independent, the conservatism in the controller design is reduced. Experimental results are provided to demonstrate the effectiveness of the proposed approach.

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Chat-PM 的鲁棒控制：具有模式相关有界非线性的开关奇异系统

本文关注的是空中-地面精密混合机械手（Chat-PM）的鲁棒控制，这是一种基于四旋翼的机器人，具有空中/地面运动和有效载荷运输能力。鉴于空中和地面运动模式之间截然不同的动态特性，Chat-PM 被建模为一种开关奇异系统。系统中包含一个非线性项，用于模拟 Chat-PM 平移和旋转运动之间的耦合，该非线性项被证明是有规范约束且与模式相关的。此外，机械臂相互作用力/力矩的估计误差被视为系统的干扰。通过混合 H2/H∞ 方法，得到了可数值检验的稳定性准则，并在此基础上提供了具有令人满意的瞬态和扰动衰减性能的控制器的存在条件。与假定非线性项与模式无关的传统研究相比，减少了控制器设计中的保守性。实验结果证明了所提方法的有效性。

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来源期刊

Aerospace Science and Technology 工程技术-工程：宇航

CiteScore

10.30

自引率

28.60%

发文量

654

审稿时长

54 days

期刊介绍： Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.