让无人机机械臂在约束下精准跟踪轨迹，兼顾安全与稳定性。
QP-Based Control of an Underactuated Aerial Manipulator under Constraints
- 用二次规划求解受约束的运动加速度，实现动力学一致性。
- 在扰动和误差下仍保持轨迹精度与控制输入平滑。
- 适合需要高安全性与鲁棒性的空中作业场景。
本文提出一种面向欠驱动空中机械臂的约束感知控制框架，可在显式考虑安全与可行性约束的前提下，实现末端执行器轨迹的精确跟踪。控制问题被建模为二次规划，用于计算满足欠驱动、执行器限幅及系统约束的动力学一致广义加速度。为增强对扰动、建模不确定性及稳态误差的鲁棒性，在力矩层面引入基于无源性的积分作用，同时不破坏可行性。通过高保真物理仿真验证了所提方法的有效性，仿真包含参数摄动、粘性关节摩擦以及真实传感与状态估计效应。结果表明，在真实工作条件下，系统可实现精确轨迹跟踪、平滑控制输入和可靠约束满足。
原文摘要 · Abstract (English)
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is formulated as a quadratic program that computes dynamically consistent generalized accelerations subject to underactuation, actuator bounds, and system constraints. To enhance robustness against disturbances, modeling uncertainties, and steady-state errors, a passivity-based integral action is incorporated at the torque level without compromising feasibility. The effectiveness of the proposed approach is demonstrated through high-fidelity physics-based simulations, which include parameter perturbations, viscous joint friction, and realistic sensing and state-estimation effects. This demonstrates accurate tracking, smooth control inputs, and reliable constraint satisfaction under realistic operating conditions.
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