Disturbance and uncertainty control method based on operation type flying robot

Abstract

The invention relates to a disturbance and uncertainty control method based on an operation type flying robot, and the method comprises the following steps: S1, constructing an operation type flying robot system composed of a four-rotor aircraft and a three-degree-of-freedom active mechanical arm, and carrying out the modeling analysis of a kinematics and dynamics model of the operation type flying robot system; S2, tracking the position and attitude of the four-rotor aircraft by adopting a geometric control method under the condition that the dynamics of the mechanical arm influences the four-rotor aircraft; S3, adopting model-free active mechanical arm control to overcome uncertainty and external interference caused by the working environment of the four-rotor aircraft and the system; S4, constructing a Lyapunov function used for controlling the operation type flying robot; and S5, based on the Lyapunov function, analyzing the stability of the rotor aircraft of the operation type flying robot system, and further controlling the operation type flying robot system to fly stably. According to the method, the control precision of the operation type flying robot under disturbance anduncertainty can be effectively improved.

Description

Technical field [0001] The present invention relates to the dynamic control of operation type flight robots involving a perturbation and uncertainty control method based on job type flight robot. Background technique [0002] In recent years, with the development of automation technology and the development of drones, researchers attempt to add an active robot to the rotorbeaux to build a combined system. This novel robot structure greatly enriches the potential application of the rotorfire, which can perform various tasks in harsh environments, such as crawling and handling equipment in boys, air detection and disposal of dangerous goods. A variety of job type flying robot mechanical structures have been developed to deal with difficult tasks in complex environments. In order to establish a docking system, the prototype docking system of the acrylonitrile butrene styrene (ABS) material 3D is mounted on the drone. The manified, a soft and light arms system is mounted on the rotor...

AI Technical Summary

Problems solved by technology

The interaction forces and torques between the rotorcraft and the robotic arm then become disturbances

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