Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011832
Tianyi Yang, Zhiqiang Miao, Guo Yi, Yaonan Wang
For quadrotors, imposing multiple dynamic constraints on the state simultaneously to achieve safe control is a challenging problem. In this paper, a cascaded control archi-tecture based on quadratic programming method is proposed to generate minimally-invasive and collision-free control actions. This architecture consists of exponential control barrier functions(ECBFs) to construct a non-conservative forward invariant safety region and geometric nonlinear PID attitude control with considering quadrotor dynamics to avoid the singularities of Euler-angles and the ambiguity of quaternions. The feasibility and the effectiveness of the proposed cascaded control architecture is demonstrated through numerical simulations.
{"title":"Safety-Critical Control of Quadrotor UAVs with Control Barrier Functions","authors":"Tianyi Yang, Zhiqiang Miao, Guo Yi, Yaonan Wang","doi":"10.1109/ROBIO55434.2022.10011832","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011832","url":null,"abstract":"For quadrotors, imposing multiple dynamic constraints on the state simultaneously to achieve safe control is a challenging problem. In this paper, a cascaded control archi-tecture based on quadratic programming method is proposed to generate minimally-invasive and collision-free control actions. This architecture consists of exponential control barrier functions(ECBFs) to construct a non-conservative forward invariant safety region and geometric nonlinear PID attitude control with considering quadrotor dynamics to avoid the singularities of Euler-angles and the ambiguity of quaternions. The feasibility and the effectiveness of the proposed cascaded control architecture is demonstrated through numerical simulations.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131890889","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011691
Xiaohan Chen, Yihui Li, Y. Guan, Wenjing Shi, Jiajun Wu
As Human-Robot Interaction (HRI) develops, robots are expected to learn more complex and demanding interaction skills. Complex HRI tasks are often embodied in robots that are jointly constrained by task space and joint space. In the field of Imitation Learning, scholars have explored the topic of joint constraints from task space and joint space, but there are few relevant studies in Human-Robot Interaction. In this paper, based on the Interaction Primitives framework (a HRI framework), we propose an interaction inference method that first generalizes the robot's movements in two spaces synchronously and then probabilistically fuses the two movements based on Bayesian estimation. This work was validated in the task that the robot follows a human handheld object, and the inference errors (RMSE and MAE) of the method are smaller in both task space and joint space than in IP using only singlespace inference.
{"title":"Probabilistic Fusion in Task Space and Joint Space for Human-Robot Interaction","authors":"Xiaohan Chen, Yihui Li, Y. Guan, Wenjing Shi, Jiajun Wu","doi":"10.1109/ROBIO55434.2022.10011691","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011691","url":null,"abstract":"As Human-Robot Interaction (HRI) develops, robots are expected to learn more complex and demanding interaction skills. Complex HRI tasks are often embodied in robots that are jointly constrained by task space and joint space. In the field of Imitation Learning, scholars have explored the topic of joint constraints from task space and joint space, but there are few relevant studies in Human-Robot Interaction. In this paper, based on the Interaction Primitives framework (a HRI framework), we propose an interaction inference method that first generalizes the robot's movements in two spaces synchronously and then probabilistically fuses the two movements based on Bayesian estimation. This work was validated in the task that the robot follows a human handheld object, and the inference errors (RMSE and MAE) of the method are smaller in both task space and joint space than in IP using only singlespace inference.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130809336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011657
Ziran Liu, T. Lin, Hong Wang, Chengfei Yue, Xibin Cao
Multi-arm space robots will play the important role in the future space activities, such as on-orbit servicing, manufacturing and active debris removal, requiring more advanced techniques for the complicated planning and control problem. In order to verify the algorithms developed for them on the earth, this paper describes the design and demon-stration procedure for an air-bearing-based simulator. Firstly, the detailed design process is presented to overview both the hardware and software systems. Then the planar mathematical model of the simulator along with actuators configuration is proposed, following by the switch strategy for hybrid actuator and command transformation method. Finally, the experiment is executed to show the effectiveness and performance.
{"title":"Design and Demonstration for an Air-bearing-based Space Robot Testbed","authors":"Ziran Liu, T. Lin, Hong Wang, Chengfei Yue, Xibin Cao","doi":"10.1109/ROBIO55434.2022.10011657","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011657","url":null,"abstract":"Multi-arm space robots will play the important role in the future space activities, such as on-orbit servicing, manufacturing and active debris removal, requiring more advanced techniques for the complicated planning and control problem. In order to verify the algorithms developed for them on the earth, this paper describes the design and demon-stration procedure for an air-bearing-based simulator. Firstly, the detailed design process is presented to overview both the hardware and software systems. Then the planar mathematical model of the simulator along with actuators configuration is proposed, following by the switch strategy for hybrid actuator and command transformation method. Finally, the experiment is executed to show the effectiveness and performance.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130914145","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011740
Cai-zhi Fan, Chao Song, Mengmeng Wang
With advantages like low cost and real-time imaging, small video satellites have broad application prospects in disaster relief, resource investigation, target monitoring and other fields. Traditionally, position-based control methods are adopted by video satellite for target tracking, but these methods are not capable of tracking non-cooperative maneuvering target. This paper proposes an image-based visual tracking control method together with an observer of the target position. Firstly, the reference image tracking error and angular velocity error are derived on the basis of the estimated target position. Then the observer of the target position is proposed, and the position of the observed target is estimated based on the projected coordinates and visual velocity information on the image. Finally, based on the reference attitude error and the observer, the visual tracking controller is proposed to keep the projection of the moving target at the desired image center. Simulations verify the effectiveness of the proposed visual tracking controller for fast maneuvering targets.
{"title":"Small video satellites visual tracking control for arbitrary maneuvering targets","authors":"Cai-zhi Fan, Chao Song, Mengmeng Wang","doi":"10.1109/ROBIO55434.2022.10011740","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011740","url":null,"abstract":"With advantages like low cost and real-time imaging, small video satellites have broad application prospects in disaster relief, resource investigation, target monitoring and other fields. Traditionally, position-based control methods are adopted by video satellite for target tracking, but these methods are not capable of tracking non-cooperative maneuvering target. This paper proposes an image-based visual tracking control method together with an observer of the target position. Firstly, the reference image tracking error and angular velocity error are derived on the basis of the estimated target position. Then the observer of the target position is proposed, and the position of the observed target is estimated based on the projected coordinates and visual velocity information on the image. Finally, based on the reference attitude error and the observer, the visual tracking controller is proposed to keep the projection of the moving target at the desired image center. Simulations verify the effectiveness of the proposed visual tracking controller for fast maneuvering targets.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130915108","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning.
{"title":"A novel design of force-feedback master manipulator for remote ultrasound scanning","authors":"Chang-le Li, ChenTao Zhang, Chuanyou Yu, Leifeng Zhang, Gangfeng Liu, Jie Zhao","doi":"10.1109/ROBIO55434.2022.10011778","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011778","url":null,"abstract":"This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132852736","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011952
Senwei Xiang, Weimin Yang, Ting Wang
Edge detection plays an important role in diameter measurement for single silicon crystal. However, the high-temperature production process (about 1,450 °C) emits intense infrared and visible lights that will blur the edge and hinder the accurate calculation for the diameter of the crystal ingot. In this paper, the aura phenomenon caused by high-temperature radiation is deliberated and the Sigmoid function is discovered to best fit the luminance distribution along the normal direction of the edge. Thus, a sub-pixel edge detection method based on Sigmoid fitting is proposed for high-temperature objects, such as the single silicon crystal. The method first extracts the coarse edge of the object, then the luminance distribution on the normal direction of the coarse edge is fitted to the Sigmoid function. Mathematical analysis points out the location of the precise sub-pixel edge is closely related to the parameters of the fitted Sigmoid function. Real-world experiments of applying our proposed method and other different methods in the measurement system are performed. Comparison results prove superiority of our proposed method in accuracy and robustness.
{"title":"Sub-pixel Edge Detection in Diameter Measurement for Single Silicon Crystal","authors":"Senwei Xiang, Weimin Yang, Ting Wang","doi":"10.1109/ROBIO55434.2022.10011952","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011952","url":null,"abstract":"Edge detection plays an important role in diameter measurement for single silicon crystal. However, the high-temperature production process (about 1,450 °C) emits intense infrared and visible lights that will blur the edge and hinder the accurate calculation for the diameter of the crystal ingot. In this paper, the aura phenomenon caused by high-temperature radiation is deliberated and the Sigmoid function is discovered to best fit the luminance distribution along the normal direction of the edge. Thus, a sub-pixel edge detection method based on Sigmoid fitting is proposed for high-temperature objects, such as the single silicon crystal. The method first extracts the coarse edge of the object, then the luminance distribution on the normal direction of the coarse edge is fitted to the Sigmoid function. Mathematical analysis points out the location of the precise sub-pixel edge is closely related to the parameters of the fitted Sigmoid function. Real-world experiments of applying our proposed method and other different methods in the measurement system are performed. Comparison results prove superiority of our proposed method in accuracy and robustness.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"315 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132878802","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011853
Mingxing Liu, Wenhui Huang, Huasong Min
To obtain accurate dynamic models of manipulators, a model learning method based on bidirectional long short-term memory (BiLSTM) networks is proposed in this paper. The future states of manipulators are important for learning the inverse dynamic model of manipulators, which was ignored in past research. In this paper, the BiLSTM network was chosen for learning the inverse dynamic model of manipulators. The future desired position and velocity of manipulators are as the input for backward propagation. The actual position and velocity of manipulators are as the input for forwarding propagation. Furthermore, to improve the accuracy of the model, each joint of the manipulator is trained separately. Finally, comparison experiments are conducted using back-propagation (BP), long short-term memory (LSTM), gated recurrent unit (GRU), and the proposed method on the UR5 manipulator. The experimental results show that the proposed method can achieve higher accuracy and faster convergence of the inverse dynamic model. It indicates that the BiLSTM network are more conducive to learn the inverse dynamic model of manipulators.
{"title":"Dynamic Model Learning for Robotic Manipulators using BiLSTM Networks*","authors":"Mingxing Liu, Wenhui Huang, Huasong Min","doi":"10.1109/ROBIO55434.2022.10011853","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011853","url":null,"abstract":"To obtain accurate dynamic models of manipulators, a model learning method based on bidirectional long short-term memory (BiLSTM) networks is proposed in this paper. The future states of manipulators are important for learning the inverse dynamic model of manipulators, which was ignored in past research. In this paper, the BiLSTM network was chosen for learning the inverse dynamic model of manipulators. The future desired position and velocity of manipulators are as the input for backward propagation. The actual position and velocity of manipulators are as the input for forwarding propagation. Furthermore, to improve the accuracy of the model, each joint of the manipulator is trained separately. Finally, comparison experiments are conducted using back-propagation (BP), long short-term memory (LSTM), gated recurrent unit (GRU), and the proposed method on the UR5 manipulator. The experimental results show that the proposed method can achieve higher accuracy and faster convergence of the inverse dynamic model. It indicates that the BiLSTM network are more conducive to learn the inverse dynamic model of manipulators.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134481587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011901
Anfan Zhang, Xueqian Wang, Bin Liang, Zhiheng Li
This paper presents an axial compression intrinsic sensing algorithm of the primary backbone for continuum robot using superelastic NiTi backbones. The elastic limit of superelastic NiTi is much larger than that of ordinary materials, and it no longer obeys Hooke's law. Axial compression of pri-mary backbone is extremely small and has been found to have an important impact on the external force sensing accuracy of continuum robot using super elastic nickel titanium alloy backbones. Firstly, the dynamic model of the continuum robot is revised and the general formula for estimating the tension of multiple driving cables (more than 3) of the continuum robot in the presence of external forces are given. The value of the elastic modulus estimated online by quasi-static conditions is used with other generalized coordinates as the input of the axial compression intrinsic sensing algorithm, so as to obtain the estimated result of real-time axial compression. The method provides a feasible path for predicting the axial deformation of continuum robot while allowing for fast computation. Experiments present the results of intrinsic sensing of axial compression in the cases of three different driving forces.
{"title":"Axial compression intrinsic sensing of continuum robot based on elastic modulus on-line estimation","authors":"Anfan Zhang, Xueqian Wang, Bin Liang, Zhiheng Li","doi":"10.1109/ROBIO55434.2022.10011901","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011901","url":null,"abstract":"This paper presents an axial compression intrinsic sensing algorithm of the primary backbone for continuum robot using superelastic NiTi backbones. The elastic limit of superelastic NiTi is much larger than that of ordinary materials, and it no longer obeys Hooke's law. Axial compression of pri-mary backbone is extremely small and has been found to have an important impact on the external force sensing accuracy of continuum robot using super elastic nickel titanium alloy backbones. Firstly, the dynamic model of the continuum robot is revised and the general formula for estimating the tension of multiple driving cables (more than 3) of the continuum robot in the presence of external forces are given. The value of the elastic modulus estimated online by quasi-static conditions is used with other generalized coordinates as the input of the axial compression intrinsic sensing algorithm, so as to obtain the estimated result of real-time axial compression. The method provides a feasible path for predicting the axial deformation of continuum robot while allowing for fast computation. Experiments present the results of intrinsic sensing of axial compression in the cases of three different driving forces.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134485609","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-05DOI: 10.1109/ROBIO55434.2022.10011963
Sicong Li, Feng Zhu, Qingxiao Wu
In order to improve the accuracy and robustness of the shape-based matching algorithm in practical industrial vision applications, we proposed an unsupervised learning algorithm, which under a given initial shape, can capture more potential shape features of the target in the training set through a comprehensive estimation of both the saliency of gradient orientation and gradient amplitude, consequently, learn a better template for matching. The experiment shows that when the number of valid training images reaches about 30, the point number difference between the learned shape and the ideal shape does not exceed 8%. In a comparative experiment on matching precision and recall of four different shapes, we found that the data curves of the learned shape were almost identical to those of the ideal shape, which proves that the algorithm has effective self-learning ability and thus, can improve the performance of shape-based template matching.
{"title":"Unsupervised learning method for shape matching templates based on gradient saliency estimation","authors":"Sicong Li, Feng Zhu, Qingxiao Wu","doi":"10.1109/ROBIO55434.2022.10011963","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011963","url":null,"abstract":"In order to improve the accuracy and robustness of the shape-based matching algorithm in practical industrial vision applications, we proposed an unsupervised learning algorithm, which under a given initial shape, can capture more potential shape features of the target in the training set through a comprehensive estimation of both the saliency of gradient orientation and gradient amplitude, consequently, learn a better template for matching. The experiment shows that when the number of valid training images reaches about 30, the point number difference between the learned shape and the ideal shape does not exceed 8%. In a comparative experiment on matching precision and recall of four different shapes, we found that the data curves of the learned shape were almost identical to those of the ideal shape, which proves that the algorithm has effective self-learning ability and thus, can improve the performance of shape-based template matching.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133852638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Recently, bridge detection by QUAVs(Quad-rotor Unmanned Aerial Vehicles) is more and more prevalent, however, there is a problem that QUAVs cannot fly close enough to get clear shots for some complex bridge structures. To solve it, an invention of variable-length gimbal mounted on QUAV is proposed in this study, at the same time, the control method of QUAVs with the gimbal is put forward. In detail, dynamic model of system is given considering the disturbance from gimbal and model uncertainty. Then, assuming the upper bound of the disturbance and uncertainty is unknown, an adaptive super-twisting fast terminal sliding mode control method meets prescribed performance is planned, which can achieve accurate estimation of the upper bounds. As a result, the validity of the method and its superior system performance is proved by simulation outcomes.
{"title":"Prescribed performance control using an adaptive super-twisting sliding mode method for quad-rotor UAV under the disturbance from variable-length gimbal","authors":"Qilei Yang, Yizhai Zhang, Yuyao Sun, Panfeng Huang","doi":"10.1109/ROBIO55434.2022.10011840","DOIUrl":"https://doi.org/10.1109/ROBIO55434.2022.10011840","url":null,"abstract":"Recently, bridge detection by QUAVs(Quad-rotor Unmanned Aerial Vehicles) is more and more prevalent, however, there is a problem that QUAVs cannot fly close enough to get clear shots for some complex bridge structures. To solve it, an invention of variable-length gimbal mounted on QUAV is proposed in this study, at the same time, the control method of QUAVs with the gimbal is put forward. In detail, dynamic model of system is given considering the disturbance from gimbal and model uncertainty. Then, assuming the upper bound of the disturbance and uncertainty is unknown, an adaptive super-twisting fast terminal sliding mode control method meets prescribed performance is planned, which can achieve accurate estimation of the upper bounds. As a result, the validity of the method and its superior system performance is proved by simulation outcomes.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"308 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115668415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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