标题：
Design of attitude controller for the aerial tree-pruning robot
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所属单位：
自动化学院
发表刊物：
Yi Qi Yi Biao Xue Bao
摘要：
This paper takes the aerial tree-pruning robot that is used for clearing the tree barricades near high-voltage lines as study object, and the attitude control problem of the aerial robot is addressed. Firstly, the attitude dynamics model and control allocation matrix of the aerial tree-pruning robot with new structure are established. Then, in order to overcome the uncertainty of the inertia matrix, the sliding mode method is used to design the attitude controller. At the same time, a non-linear function is introduced to improve the traditional boundary layer method and enhance the controller performance. Then, a control allocation matrix switching strategy is proposed to solve the dynamics model change problem of the aerial robot in the cutting operation process. Finally, the controller was implemented on the simulation platform. The experiment results show that the sliding mode controller designed in this paper has good attitude control performance and can effectively overcome the inertia uncertainty of the robot body. Through switching the control allocation matrix, the attitude stabilization of the aerial robot in the cutting operation process is realized. © 2019, Science Press. All right reserved.
ISSN号：
0254-3087
是否译文：
否
发表时间：
2019-06-01
合写作者：
Wang, Shaohui,Zhang, Qiuyan,Xu, Changliang,L00153,Xu, Xiangrong
通讯作者：
杨忠
发表时间：
2019-06-01
学位：工学博士学位
职称：教授
所在单位：自动化学院