Position and attitude stability control method for operational flying robot after grasping

Abstract

The invention relates to a position and attitude stability control method for an operational flying robot after grasping. The position and attitude stability control method comprises the steps that firstly, a four-rotor unmanned aerial vehicle carrying mechanical arm system is modeled through a Newtonian-Euler equation method; then, gravity center offset system parameters are considered in a position controller, and the gravity center offset system parameters are compensated in sliding mode control, so that a four-rotor unmanned aerial vehicle platform flies according to a target trajectory; then, the expected roll-over angle, the expected pitch angle and the lift required by the four-rotor unmanned aerial vehicle platform flying according to an expected trajectory are calculated; and it is considered that gravity center offset control parameters and the inertia tensor are not constants in an attitude controller, adaptive law is added into the attitude controller to estimate the gravity center offset control parameters and the inertia tensor, a CMAC neural network is added to approximate a real value of the inertia tensor online, the required input torque is calculated, and then the rotational speeds of four rotors are calculated simultaneously. According to the position and attitude stability control method for an operational flying robot after grasping, the problems of unknown time-varying parameters, insufficient stability of attitude control and insufficient stability of gravity center offset to the position in attitude control law can be solved.

Description

technical field [0001] The invention relates to the field of flight grasping of an operational flying robot, in particular to a pose stabilization control method for an operational flying robot after grasping. Background technique [0002] Quadrotor UAVs are unmanned aircraft utilizing radio-teleoperated and self-programmed controls, or operated entirely or intermittently autonomously by an on-board computer. Quadrotor UAV is already a mature flight platform, which can be equipped with different components to expand the application of the flight platform in different fields. Today, the era of express delivery with an average of 100 million pieces per day has arrived, and quadrotor drones have been successfully applied in logistics and freight transportation. There are potential applications of quadrotor UAVs in agriculture, high-altitude maintenance and cleaning. Among them, many of these applications require a quadrotor UAV platform to be equipped with a robotic arm. Comb...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a method for controlling the pose stability of an operational flying robot after grasping, so as to overcome the problem of unstable pose caused by changes in the position of the center of gravity after flying and grasping.

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