让无人机机械臂稳定接触检测，抗干扰能力强。
Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
- 用滑模控制+阻抗控制融合，实现轨迹与力的双重精准调节。
- 力误差仅0.12N，可稳定施加最高20N的接触力。
- 适合需要持续稳定接触的工业巡检场景。
基于接触的工业检测要求飞行平台在受扰情况下保持稳定交互。由于飞行器姿态与力生成之间的动态耦合，欠驱动空中机械臂面临控制挑战。本文提出一种针对配备单自由度机械臂的六旋翼无人机的鲁棒控制框架，用于实现持续接触式检测。该架构结合积分增强型滑模控制（SMC）用于轨迹跟踪，以及阻抗控制律用于力调节。接触力被映射为前馈姿态项，而单自由度机械臂主动补偿倾斜以维持表面对齐。软件在环仿真表明，基于SMC的方法相比传统PID在轨迹跟踪和耦合抑制方面表现更优。此外，该交互策略实现了0.12N的均方根误差力调节，并能稳定施加高达20N的力，验证了系统在稳定可靠接触检测中的有效性。
原文摘要 · Abstract (English)
Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting disturbances. Underactuated aerial manipulators present control challenges due to the dynamic coupling between vehicle attitude and force generation. This paper proposes a robust control framework for an underactuated hexarotor equipped with a 1-DoF manipulator to perform sustained contact inspection. The architecture integrates integral-augmented Sliding Mode Control (SMC) for trajectory tracking with an admittance control law for force regulation. The contact force is mapped to a feedforward attitude term, while the 1-DoF arm actively compensates for the tilt to maintain surface alignment. Software-in-the-loop simulations demonstrate that the SMC-based approach achieves superior tracking and coupling rejection compared to traditional PID. Furthermore, the interaction strategy achieved precise force regulation with an RMSE of 0.12N and was able to stably exert up to 20N force, confirming the system's efficacy for stable, reliable contact-based inspection.
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