Control Research Of An Rotorcraft Flying Manipulator Composite System

With the development of unmanned aerial vehicle(UAV)technology,it is a hot research issue that the quadrotor UAV is equipped with a manipulator in the field of robotics.By controlling the manipulator,UAV can be added with more functions to execute more diversified tasks.However,because of the underactuation and nonlinearity in the quadrotor UAV,after outfitting the manipulator system,it is necessary for the whole system to solve the complex cooperative control problem caused by coupling effect between two robot systems,which greatly increases more difficulty than the original controller design.In this thesis,the control research of an unmanned rotorcraft with the manipulator system is studied.Considering the complexity of controller design in this composite system,the manipulator and UAV system controllers are designed separately.These controller design methods are the research foundation of controller design in the composite robot system.Then,with the development of controller research,the effective solutions of composite robotic system control problem are put forward.The specific contents are as follows:Firstly,the manipulator controller design is considered.An adaptive controller based on compression theory and an output feedback controller with velocity observation function are proposed in this thesis.Different from The Lyapunov function method,the convergence rate of the system can be obtained while the stability of the system is verified by the contraction theory.The numerical simulations are presented to compare the effects of two different algorithms and verify the effectiveness of the algorithm.Secondly,the control problem of quadrotor UAV is considered.Considering the cascaded property of UAV dynamics,the UAV system is divided into two loops of position control and attitude control.For the position control loop,an image-based visual servo output feedback controller is designed.For the attitude control loop,an UAV attitude controller with the angular velocity observer is designed.The numerical simulations and physical experiment results are showed to prove the algorithm effectiveness.Then,the manipulator output force control problem is considered.When the manipulator system executes a kind of practical tasks interacting with the environment,it is necessary to design the dynamics controller control as well as the contact force controller.In this thesis,with the modeling uncertainty,unknown dead zone input,unknown working interface and other adverse factors,an adaptive control algorithm based on visual servo control algorithm is proposed.The effectiveness of the algorithm is proved by numerical simulations.Finally,the control problem of the composite system of rotorcraft flying manipulator is considered.By following the research idea of controller design for manipulator and rotorcraft UAV system,an adaptive sliding mode controller and a hybrid controller based on the cascade property of UAV are designed for the composite robot system In this thesis.Finally,the control effects of two algorithms are compared and analyzed by numerical simulation examples,and the effectiveness of the algorithm is also verified.In addition,referring to the design idea of the manipulator output force controller,a dynamic force control algorithm for the rotorcraft flying manipulator composite system is proposed and verified by numerical simulation.