用非线性观测器提升无人机机械臂的精度与响应速度
NDOB-Based Control of a UAV with Delta-Arm Considering Manipulator Dynamics
- 用NDOB观测并补偿机械臂耦合与外部干扰
- 通过高通滤波处理动力学，实现毫米级定位精度
- 适合需要高精度、快速响应的无人机作业场景
空中机械臂（AMs）在三维打印、建筑施工和空中抓取等任务中具有广泛应用。然而，其操作速度常因精度要求而受限。现有控制策略通常将机械臂视为干扰，采用鲁棒控制方法抑制其影响。本文提出一种复合控制方案，以提升末端执行器精度并增强空中机械臂的机动性。首先，利用非线性扰动观测器（NDOB）补偿内部耦合效应和外部扰动；随后，通过高通滤波处理机械臂动力学，促进敏捷运动。将该控制方法应用于全自主的基于德尔塔臂的空中机械臂系统，通过大量实地实验验证了控制器的有效性。结果表明，末端执行器可达到毫米级精度。
原文摘要 · Abstract (English)
Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed is often sacrificed to uphold precision. Existing control strategies for AMs often regard the manipulator as a disturbance and employ robust control methods to mitigate its influence. This research focuses on elevating the precision of the end-effector and enhancing the agility of aerial manipulator movements. We present a composite control scheme to address these challenges. Initially, a Nonlinear Disturbance Observer (NDOB) is utilized to compensate for internal coupling effects and external disturbances. Subsequently, manipulator dynamics are processed through a high pass filter to facilitate agile movements. By integrating the proposed control method into a fully autonomous delta-arm-based AM system, we substantiate the controller's efficacy through extensive real-world experiments. The outcomes illustrate that the end-effector can achieve accuracy at the millimeter level.
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