Hierarchy-Based Adaptive Generalized Predictive Control for Aerial Grasping of a Quadrotor Manipulator
Tóm tắt
In this paper, an adaptive generalized predictive control (GPC) based on hierarchical control strategy is designed for a quadrotor with a robotic arm. For this nonlinear and coupled system, a two-layer control structure is adopted to achieve more precise trajectory tracking and keep the tracking performance after aerial grasping. The inner-layer controller is a proportional-derivative (PD) controller. The outer-layer subsystem is linearized by input-output linearization first and an adaptive generalized predictive controller is applied. The effectiveness of this approach is verified through the simulation using MATLAB/Simulink. A PD controller with feedforward control input is applied on such a system for a comparative study. Simulation results show that a better tracking performance can be achieved by the proposed strategy.
Tài liệu tham khảo
LIPPIELLO V, RUGGIERO F. Cartesian impedance control of a UAV with a robotic arm [C]//10th IFAC Symposium on Robot Control. Dubrovnik, Croatia: International Federation of Automatic Control, 2012: 704–709.
LOPES R V, SANTANA P H R Q A, BORGES G A, et al. Model predictive control applied to tracking and attitude stabilization of a VTOL quadrotor aircraft [C]//Proceedings of COBEM 2011. Natal, RN, Brazil: ABCM, 2011: 1–10.
ARLEO G, CACCAVALE F, MUSCIO G, et al. Control of quadrotor aerial vehicles equipped with a robotic arm [C]//21st Mediterranean Conference on Control and Automation (MED). Platanias-Chania, Crete, Greece: IEEE, 2013: 1–7.
BANGURA M, MAHONY R. Real-time model predictive control for quadrotors [J]. I FAC Proceedi ngs Volumes. Cape Town, South Africa, 2014: 11773–11780.
WANG Y, RAMIREZ-JAIME A, XU F, et al. Nonlinear model predictive control with constraint satisfactions for a quadcopter [J]. Journal of Physics: Conference Series, 2017, 783: 012025.
GARIMELLA G, KOBILAROV M. Towards model-predictive control for aerial pick-and-place [C]//IEEE International Conference on Robotics and Automation. Washington, USA: IEEE 2015: 4692–4697.
ANTONELLI G, CATALDI E. Adaptive control of arm-equipped quadrotors. Theory and simulations [C]//22nd Mediterranean Conference on Control and Automation (MED). Palermo, Italy: IEEE, 2014: 1446–1456.
MELLINGER D, LINDSEY Q, SHOMIN M, et al. Design, modeling, estimation and control for aerial grasping and manipulation [C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco, CA, USA: IEEE, 2011: 2668–2673.
MELLINGER D, KUMAR V. Minimum snap trajectory generation and control for quadrotors [C]//IEEE International Conference on Robotics and Automation. Shanghai, China: IEEE, 2011: 2520–2525.
MELLINGER D, MICHAEL N, KUMAR V. Trajectory generation and control for precise aggressive maneuvers with quadrotors [J]. International Journal of Roboti cs Research, 2012, 31(5): 5–664.
LI X C. Dynamic analysis and control for multi-rotors grasping [D]. Harbin, China: Harbin Institute of Technology, 2015 (in Chinese).
MING T, DENG W, ZHANG S, et al. MPC-based trajectory tracking control for intelligent vehicles [C]//SAE 2016 World Congress and Exhibition. Detroit, USA: SAE International, 2016: 1–7.
KIM H J, SHIM D H, SASTRY S. Nonlinear model predictive tracking control for rotorcraft-based unmanned aerial vehicles [C]//Proceedings of the American Control Conference. Anchorage, AK, USA: IEEE, 2002: 3576–3581.
SLEGERS N, KYLE J, COSTELLO M. Nonlinear model predictive control technique for unmanned air vehicles [J]. Journal of Guidance, Control, and Dynamics, 2006, 29(5): 5–1179.
MERABTI H, BOUCHACHI I, BELARBI K. Nonlinear model predictive control of quadcopter [C]//16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering. Monastir, Tunisia: IEEE, 2015: 208–211.
ALEXIS K, NIKOLAKOPOULOS G, TZES A. Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances [J]. Control Engineering Practice, 2011, 19(10): 10–1195.
LEE D, KIM H J, SASTRY S. Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter [J]. International Journal of Control, Automation, and Systems, 2009, 7(3): 3–419.
CLARKE D W, MOHTADI C, TUFFS P S. Generalized predictive control — Part I. The basic algorithm [J]. Automatica, 1987, 23(2): 2–137.
CAO Y, HE D B, YU F, et al. Generalized predictive control based on vehicle path following strategy by using active steering system [J]. Journal of Shanghai Jiao Tong University, 2016, 50(3): 401–406 (in Chinese)
WANG W. The Basic Method of GPC [M]. Beijing, China: Science Press, 1998: 10–25 (in Chinese).