控制理论与应用2024，Vol.41Issue(5)：808-816,9.DOI:10.7641/CTA.2023.20214
基于分层运动分解的飞行机械臂视觉伺服控制
Visual servoing control for aerial manipulator via hierarchical motion decomposition
摘要
Abstract
The aerial manipulator system has active operation capability,and the autonomous level of the system would be further improved if the aerial manipulator could perceive the surrounding environment by visual sensors.However,considering the underactuation of the multirotor and the nonlinear property of the overall system,visual servoing control of aerial manipulator systems is still a challenging work.This paper proposes a hierarchical motion decomposition based visual servoing control scheme for aerial manipulator sytems with full consideration of the force/torque effect exerted by the robotic arm on the fuselage of the unmanned aerial vehicle(UAV).Firstly,the kinematics and dynamics model of the aerial manipulator system is analyzed.Then,based on the obtained camera's kinematics,the desired speed of the camera is obtained through image-based visual servo control,and the speed allocation strategy of the UAV and the manipulator is formulated.After considering the influence of the effect generated by the robotic arm on the UAV,the low-level flight controller is provided.Finally,compared with the existing method,the proposed method has better control performance and also presents good robustness against the uncertainty of image feature points position and image noise.关键词
多旋翼无人机/飞行机械臂/视觉伺服控制Key words
multirotor UAV/aerial manipulator/visual servoing control引用本文复制引用
张兆鹏,何慰,梁潇,韩建达,方勇纯..基于分层运动分解的飞行机械臂视觉伺服控制[J].控制理论与应用,2024,41(5):808-816,9.基金项目
国家自然科学基金项目(62273187,62233011,91848203),天津市青年人才托举工程项目(TJSQNTJ-2020-21),先进计算与关键软件海河实验室项目(22HHXCJC00003)资助.Supported by the National Natural Science Foundation of China(62273187,62233011,91848203),the Young Elite Scientists Sponsorship Program by Tianjin(TJSQNTJ-2020-21)and the Haihe Lab of ITAI(22HHXCJC00003). （62273187,62233011,91848203）
