A method and system for controlling an aerial robot in a complex environment

Abstract

The application discloses a kind of complex environment-oriented air robot control method and system, for the control demand of contact operation of air robot in complex environment, the dynamics model of air robot is established, and a kind of hierarchical control framework is proposed.The framework includes outer torsion estimator, impedance-based force / trajectory tracking module and position controller and attitude controller.First, by introducing generalized torsion estimator, the effective estimation of external disturbance is realized without additional sensor;Second, using impedance control module, the contact force tracking performance is improved while maintaining trajectory accuracy;Finally, position controller and attitude controller ensure the rapid convergence of position and attitude.Theoretical analysis shows that the designed control law can ensure the stability and convergence of the system in the presence of uncertainty and external contact force, and provides an effective control method for autonomous operation of air robot in complex task environment.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aerial robot force interaction control, and particularly relates to an aerial robot control method and system for complex environment. BACKGROUND

[0002] Aerial robots have high maneuverability and flexibility, and their research and application are rapidly developing, gradually becoming an important branch of robot technology. Especially when aerial robots carry various execution devices, they can complete diversified active operation tasks in complex and harsh environments. Aerial robot contact force control is a key link of active operation and is crucial in aerial operation tasks.

[0003] In the past few decades, force tracking control has been a core research direction in the field of aerial robot control. Impedance control provides a smooth and robust research idea for this problem. Its basic principle is to establish a "force-position" dynamic mapping relationship between the aerial robot and the environment, so as to realize the expected interaction characteristics. Unlike hybrid control methods, impedance control does not directly act on force or position, but adjusts the dynamic response of the system, so that the robot presents a compliant mechanical property when subjected to external disturbances or contact forces, thereby achieving natural adaptation to the contact process. This method not only effectively suppresses the impact caused by environmental uncertainties, but also theoretically clearly describes the dynamic interaction process between the robot and the environment. With good compliance, stability and physical interpretability, impedance control has become one of the most representative and widely used control frameworks in the field of aerial robot force control. However, there are still some problems to be solved in traditional impedance control. First, its performance is highly dependent on the accurate dynamic model of the system, and aerial robots are easily affected by airflow disturbances, load changes and other nonlinear factors in complex environments, making it difficult to accurately obtain the model. Second, traditional impedance control usually assumes that the external force can be directly measured, but in aerial robots, due to the limitations of sensor accuracy, installation position and vibration interference, direct force measurement is often not feasible, thereby weakening the control effect. Therefore, achieving accurate estimation of external torque and improving the robustness of control performance has become a key direction for the further development of impedance control.

[0004] In summary, the force interaction control of aerial robots still faces many challenges, and researchers need to continuously improve the accuracy in observation estimation, force-position conversion, stable control and other aspects, improve the adaptability and stability of robots in complex environments, especially achieve accurate estimation of external torque. In order to further promote the stability and robustness of aerial robots in performing contact operations and force tracking tasks in complex environments, it is urgent to invent safe and efficient aerial force tracking control methods. SUMMARY

[0005] The application aims to invent a safe and efficient air force tracking control method, especially to realize accurate estimation of external torsion, solve the technical obstacles of direct force measurement of external force of air operation robot due to the limitations of sensor accuracy, installation position and vibration interference, and provide an air robot control method and system for complex environment. and external disturbance torque The application defines a generalized external torsion force including external disturbance force and external disturbance torque through the external torsion force estimator, constructs a unified form of torque estimator in Laplace domain without additional sensors, and converts into a time domain differential equation to realize real-time external force observation, estimates external force and torque only depending on system input and state variables, reduces hardware dependence, system weight and cost, realizes effective estimation of external disturbance, and lays a foundation for impedance control, etc.

[0006] On the one hand, the application provides an air robot control method for complex environment, which adopts a hierarchical control framework to decompose the complex coupled control task of the air robot into attitude control in the inner loop and position control in the outer loop, so as to realize fast and accurate tracking, improve the stability and response speed of the system, and specifically includes the following steps:

[0007] S1: Generalized external torsion force observation, define a generalized external torsion force composed of external disturbance force and external disturbance torque, introduce an external torsion force estimator, and observe the generalized external torsion force acting on the air robot based on real-time data of the air robot;

[0008] S2: Force / trajectory tracking, based on the expected position and expected force of the air robot and the observed generalized external torsion force, impedance control is adopted for force / trajectory tracking to obtain the command position of the air robot;

[0009] S3: Attitude control and position control, based on the observed generalized external torsion force and the command position of the air robot, the position loop controller outputs the position loop output control quantity for controlling the three-axis thrust of the air robot, and the attitude loop controller outputs the attitude loop output control quantity for controlling the three-axis torque of the air robot.

[0010] Optionally, the generalized external torsion force is defined as:

[0011] ;

[0012] In the formula, is the external disturbance force acting on the air robot during flight, For external disturbance torque, It is the generalized external torque vector;

[0013] Furthermore, an external torque estimator is constructed in the Laplace domain and transformed into a time-domain differential equation. The mathematical model of the external torque estimator obtained by solving the time-domain differential equation is as follows:

[0014] ;

[0015] In the formula, For the observed generalized external torque vector The estimated value, It is a diagonal positive definite matrix. Let g be the mass of the aerial robot, and g be the acceleration due to gravity. For generalized thrust input, matrix =[0,0,1] represents the vertically downward direction. It is the angular velocity vector. The rotational inertia matrix of the aerial robot. M is the velocity vector, M is the control torque input, and t is time.

[0016] The speed of the aerial robot is input into the external torque estimator. and state parameters The generalized external torque vector estimate was obtained from observation. .

[0017] Optionally, the process of obtaining the command position of the aerial robot by force / trajectory tracking using impedance control is as follows:

[0018] The interaction between the aerial robot and its environment is abstracted as a mass-damping-stiffness system, and the desired trajectory is assumed to be... The command trajectory is The following dynamic equations for impedance control are established:

[0019] ;

[0020] in, These are the desired mass, damping, and stiffness parameters, respectively. For the power of expectation, for The derivative, for The derivative, External disturbance force;

[0021] An impedance control mode is proposed for free flight and contact operation scenarios. The command position of the aerial robot is obtained by performing corresponding impedance control based on the state of the aerial robot.

[0022] If the aerial robot is in free flight, the desired force is set. Impedance control is transformed into a trajectory tracking control law:

[0023] ;

[0024] If the aerial robot is in a contact operation scenario, the desired force is set. and through the force error term Compensation for force deviation converts force tracking into position tracking:

[0025] ;

[0026] In the formula, The external disturbance force experienced by the aerial robot is estimated by the external torque estimator.

[0027] Optionally, the position loop controller is a dual sliding mode feedback controller, used to output the position loop output control quantity. This allows for the control of the aerial robot's three-axis thrust;

[0028] The dual sliding mode feedback controller constructs a sliding surface in the position loop, designs a virtual input control law, and introduces external force compensation, nonlinear terms, and integral terms into the virtual input control law, as detailed below:

[0029] The model uncertainty and unavoidable external disturbances are combined using a perturbation vector. describe, These represent the disturbances along the X, Y, and Z axes in the aerial robot's body coordinate system, respectively, with T being the matrix transpose. Therefore, the output of the position loop is:

[0030] ;

[0031] in, For the generalized thrust input of aerial robots, The virtual input to be designed for the aerial robot is the position loop output control quantity;

[0032] Accordingly, the dual sliding mode feedback controller:

[0033] ;

[0034] ;

[0035] In the formula, Let g be the mass of the aerial robot, g be the acceleration due to gravity, and the matrix be... =[0,0,1] represents the vertically downward direction. for The derivative, derivative of the command trajectory , external disturbance force estimated by the external disturbance force estimator, positive definite gain matrix, velocity error of the aerial robot, i.e. , derivative of the aerial robot's center of mass position vector , double sliding mode integral term, t is time, sliding mode term gain coefficient, sliding mode integral term gain coefficient, sliding mode surface S, the sliding mode surface S is related to time, so an integral variable is needed when integrating; the sliding mode surface S is constructed based on the translation error and the velocity error, , translation error of the aerial robot;

[0036] wherein the position loop output control quantity is substituted into to obtain the position loop closed-loop control law:

[0037] ;

[0038] in the formula, estimation error of the external disturbance force, derivative of the sliding mode surface S, sign of the derivative of the sliding mode surface S.

[0039] Optionally, a filtering error is constructed in the attitude loop controller, and an attitude control law is designed, and an attitude error feedback term, an angular velocity feedback term, an external torque compensation term, and a gyroscopic effect compensation term are introduced, so as to obtain an attitude loop controller output control quantity , as the control torque input of the aerial robot, to control the three-axis torque of the aerial robot;

[0040] wherein the aerial robot attitude error is defined as:

[0041] ;

[0042] ;

[0043] wherein, and are the expected rotation matrix and the expected angular velocity of the aerial robot respectively, angular velocity vector, attitude rotation matrix, T is the matrix transpose symbol, attitude error and angular velocity error respectively; is the filter error of the aerial robot attitude loop, is a positive constant, which is the gain parameter of the attitude error, is the operator symbol for converting the skew-symmetric matrix into a vector,

[0044] The mathematical model of the designed robust controller of the attitude loop is:

[0045] ;

[0046] wherein, are both positive constants, which are respectively the gain parameter of the filter error and the gain parameter of the attitude error, is a 3*3 linear operator, I is the unit matrix, and the tr function is the trace of the matrix, is the angular velocity skew-symmetric matrix, is the rotational inertia matrix of the aerial robot, is the derivative of , is the external disturbance torque of the aerial robot estimated by the external disturbance torque estimator, is the filter error feedback, is the attitude error feedback, is the angular velocity error feedback, is the external torque compensation term, is the gyroscopic effect compensation term, is the attitude dynamic coupling compensation term,

[0047] Substituting into , the closed-loop control law of the attitude loop can be obtained:

[0048] ;

[0049] wherein, is the derivative of , and the torque estimation error , is the external disturbance torque.

[0050] In the second aspect, the technical scheme of the present application further provides an aerial robot control method for a complex environment, comprising the following steps:

[0051] S100: constructing the kinematics and dynamics equations of the aerial robot, defining the state variables at least including position, velocity, attitude and angular velocity, and introducing the external contact force;

[0052] S200: defining the generalized external disturbance force composed of the external disturbance force and the external disturbance torque, designing the external disturbance force estimator, and then observing the generalized external disturbance force acting on the aerial robot based on the real-time data of the aerial robot.

[0053] S300: introducing impedance control method to realize force / trajectory tracking, wherein, based on the desired position and desired force of the aerial robot and the observed generalized external wrench, the impedance control is used for force / trajectory tracking to obtain the command position of the aerial robot;

[0054] S400: designing a position loop controller and an attitude loop controller based on the observed generalized external wrench and the command position of the aerial robot to output a position loop output control quantity and an attitude loop output control quantity;

[0055] S500: proving the stability and convergence of the control process of S100-S400 by Lyapunov direct method;

[0056] Further, based on the designed external wrench estimator, the force / trajectory tracking and the position loop controller and the attitude loop controller, the aerial robot is controlled to realize stable operation.

[0057] Optionally, the Lyapunov function constructed in S500 is a composite Lyapunov function, which includes a translation subsystem and an attitude subsystem, and specifically as follows:

[0058] ;

[0059] ;

[0060] ;

[0061] In the formula, are the Lyapunov functions of the position loop and the attitude loop respectively, represents a nonlinear part, S is a sliding surface of the position loop, is a sliding term gain coefficient, is a sliding integral term gain coefficient, represents the sum of the integral term and the combined disturbance, is a double sliding integral term, is a disturbance vector, is an attitude error on a three-dimensional special orthogonal group, is a desired rotation matrix of the aerial robot, is an attitude rotation matrix, T is a matrix transpose symbol, is a moment of inertia matrix of the aerial robot, is an attitude error parameter, is an angular velocity error.

[0062] The technical scheme of the present application provides a control system based on the above-mentioned aerial robot control method, which adopts a hierarchical control framework and is provided with at least:

[0063] An external torque estimator is configured to estimate a generalized external torque acting on the aerial robot based on real-time data of the aerial robot, wherein the generalized external torque is defined by an external disturbance force and an external disturbance torque;

[0064] A force / trajectory tracking module is configured to perform force / trajectory tracking based on the desired position and the desired force of the aerial robot and the observed generalized external torque, to obtain a command position of the aerial robot by using impedance control;

[0065] A position loop controller is configured to output a position loop output control quantity for controlling three-axis thrust of the aerial robot.

[0066] An attitude loop controller is configured to output an attitude loop output control quantity for controlling three-axis torque of the aerial robot.

[0067] In a fourth aspect, the aerial robot based on the above control system is provided, and the control end on the body of the aerial robot is the control system; or an external terminal in communication connection with the control end of the aerial robot is the control system.

[0068] In a fifth aspect, a computer readable storage medium storing a computer program is provided, and the computer program is called by a processor to implement the steps of the above aerial robot control method.

[0069] Advantages

[0070] The technical scheme of the present application provides a hierarchical control framework for the control requirement of the aerial robot performing contact operation in a complex environment. The framework includes an external torque estimator, a force / trajectory tracking module, a position controller, and an attitude controller. By introducing the external torque estimator and defining the generalized external torque including the external disturbance force and the external disturbance torque, real-time external force observation can be achieved without additional sensors. Specifically, a unified form of torque estimator is constructed in the Laplace domain, and is converted into a time-domain differential equation to realize real-time external force observation, which only depends on the system input and state variables to estimate the external force and torque, reducing the dependence on hardware, system weight, and cost. The technical scheme of the present application further provides an impedance relationship for both free flight and physical interaction tasks based on the impedance control principle, realizing collaborative control of trajectory tracking and contact force regulation, taking into account trajectory accuracy and flexibility, and avoiding the conflict problem of force-position control.

[0071] The technical scheme of the present application further provides an impedance relationship for both free flight and physical interaction tasks based on the impedance control principle, realizing collaborative control of trajectory tracking and contact force regulation, taking into account trajectory accuracy and flexibility, and avoiding the conflict problem of force-position control.

[0072] ​In a further preferred embodiment of the invention, a dual-feedback sliding mode controller is designed. Linear and nonlinear terms are simultaneously introduced into the position loop to construct a dual sliding surface, achieving faster error convergence and disturbance suppression. A robust compensation structure is further employed in the attitude loop to enhance the system's anti-disturbance capability. Furthermore, the design of a cascaded controller between the position and attitude loops ensures rapid convergence of translational and rotational errors. Attached Figure Description

[0073] Figure 1 This is a flowchart of an aerial robot control method for complex environments according to an embodiment of the present invention;

[0074] Figure 2 This is another control block diagram of an aerial robot control method for complex environments according to one embodiment of the present invention;

[0075] Figure 3 The image shows the position tracking diagram of the aerial robot of the present invention in the X, Y, and Z directions as it tracks a circular trajectory in free flight. It can be seen that the force contact controller designed in this invention is also applicable in free flight.

[0076] Figure 4a and Figure 4b This invention modifies the simulation environment, and the overall environment is as follows: Figure 4a As shown, in the simulation, the aerial robot approaches the object in a straight line and then interacts with it using a force of 1.2N. The collision model of the aerial robot is as follows. Figure 4b The method has been modified by adding an outer collision volume to prevent the aerial robot's propeller from colliding with the object it is in contact with, thus facilitating the simulation experiment.

[0077] Figure 5 For the present invention in Figure 4b The contact diagram between the aerial robot and the object being contacted in the simulation experiment based on the above;

[0078] Figure 6 For the present invention in Figure 4b Based on the position tracking diagram of the simulation experiment;

[0079] Figure 7 For the present invention in Figure 5 Based on the simulation experiment, the force tracking diagram in the X direction is shown. The aerial robot makes contact with the object at 40s, and the expected force is 1.2N in the X direction. In the figure, the force on the aerial robot in the X direction oscillates around -1.2N. Detailed Implementation

[0080] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application and not to limit the present application. The technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0081] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be performed in a manner different from the module division in the device or the sequence in the flowchart. The terms "first", "second", etc. in the specification and claims and the above-described drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0082] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0083] In order to enable those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the accompanying drawings.

[0084] The present application establishes a dynamic model of the aerial robot and proposes a hierarchical control framework to meet the control requirements of the aerial robot performing contact operations in complex environments. The framework includes an external torque estimator, a force / trajectory tracking module, and a position controller and an attitude controller. First, the core improvement of the present application is to introduce a generalized external torque estimator, which effectively estimates external disturbances without the need for additional sensors, effectively solving the technical obstacle that direct force measurement is not feasible when traditional impedance control is applied to aerial robots. On this basis, the present application further optimizes impedance control to improve control performance, i.e., based on the principle of impedance control, an impedance relationship is designed for both free flight and physical interaction tasks, realizing cooperative control of trajectory tracking and contact force regulation, taking into account trajectory accuracy and flexibility, and avoiding the conflict problem of force-position control. In addition, on the basis of the external torque estimator optimization, the present application further optimizes the position controller and the attitude controller, designs a double feedback sliding mode controller, introduces linear and nonlinear terms in the position loop at the same time, constructs double sliding surfaces, and realizes faster error convergence and disturbance suppression; in the attitude loop, a robust compensation structure is further adopted to enhance the disturbance rejection ability of the system and ensure the rapid convergence of position and attitude. Theoretical analysis shows that the designed control law can ensure the stability and convergence of the system in the presence of uncertainty and external contact force, providing an effective control method for autonomous operation of aerial robots in complex task environments.

[0085] Therefore, the application provides a complex environment-oriented aerial robot control method, and specifically comprises the following steps.

[0086] S1: generalized external disturbance torque observation, defining a generalized external disturbance torque composed of an external disturbance force and an external disturbance torque, introducing an external disturbance torque estimator, and observing the generalized external disturbance torque acting on the aerial robot based on real-time data of the aerial robot;

[0087] S2: force / trajectory tracking, based on the expected position and expected force of the aerial robot and the observed generalized external disturbance torque, force / trajectory tracking is performed by using impedance control to obtain the command position of the aerial robot;

[0088] S3: attitude control and position control, based on the observed generalized external disturbance torque and the command position of the aerial robot, a position loop controller outputs a position loop output control quantity for controlling the three-axis thrust of the aerial robot, and an attitude loop controller outputs an attitude loop output control quantity for controlling the three-axis torque of the aerial robot.

[0089] It should be understood that one of the cores of the technical scheme of the application is step S1, that is, introducing an external disturbance torque estimator to realize real-time observation of the generalized external disturbance torque. The technical scheme of the application also preferably step S2 based on the impedance control principle, designs an impedance relationship that combines free flight and physical interaction in two task situations, and realizes cooperative control of trajectory tracking and contact force adjustment; but it should be understood that in other feasible embodiments, on the basis of step S1, step S2 uses the traditional impedance control technology in the background technology, which also falls within the protection scope of the application, and can also realize trajectory tracking, the difference lies in the control performance and effect; the technical scheme of the application also preferably uses a double sliding mode feedback controller and / or an attitude controller in step S3, which is a robust compensation structure in the attitude loop, but it should be understood that in other feasible embodiments, on the basis of step S1, using conventional position controllers and attitude controllers in the art is also feasible, the difference lies in the control effect, and the application does not make specific limitations on this.

[0090] The application will be further described below in combination with specific embodiments.

[0091] Embodiment 1

[0092] As Figure 1 shown, the embodiments of the application optimize the above steps S1-S3 synchronously, therefore, the complete technical idea of the complex environment-oriented aerial robot control method provided by the embodiments of the application is as follows:

[0093] S100: constructing the kinematics and dynamics equations of the aerial robot, defining state variables including at least position, velocity, attitude, angular velocity, and introducing external contact force;

[0094] S200: define a generalized external wrench composed of external disturbance force and external disturbance torque, design an external wrench estimator, and then use the real-time data of the aerial robot to observe the generalized external wrench acting on the aerial robot.

[0095] S300: introduce impedance control method to realize force / trajectory tracking, wherein, based on the desired position and desired force of the aerial robot and the observed generalized external wrench, impedance control is used for force / trajectory tracking to obtain the command position of the aerial robot. In this embodiment, the interaction between the aerial robot and the environment is modeled as a mass-spring-damper system, which improves the interaction ability of the aerial robot in complex environments.

[0096] S400: design a position loop controller and an attitude loop controller based on the observed generalized external wrench and the command position of the aerial robot to output a position loop output control quantity and an attitude loop output control quantity. In this embodiment, a position loop double feedback sliding mode controller and an attitude loop robust controller are designed to realize tracking control of contact force and trajectory.

[0097] S500: prove the stability and convergence of the control process of S100-S400 by Lyapunov direct method.

[0098] In actual application, the aerial robot is controlled by the designed external wrench estimator, force / trajectory tracking, and position loop controller and attitude loop controller to realize stable operation.

[0099] It should be understood that the above technical idea is aimed at the control requirement of the aerial robot performing contact operation in complex environment, a dynamics model of the aerial robot is established, and a hierarchical control framework is proposed, including an external wrench estimator, an impedance-based force / trajectory tracking module, and a double feedback sliding mode attitude controller (a position loop double feedback sliding mode controller and an attitude loop robust controller). By introducing the external wrench estimator, effective estimation of external disturbance is realized without additional sensors; the impedance control module improves the contact force tracking performance while maintaining the trajectory accuracy; the double feedback sliding mode controller ensures the rapid convergence and robustness of position and attitude. Theoretical analysis shows that the designed control law can ensure the stability and convergence of the system in the presence of uncertainty and external disturbance, providing an effective control method for autonomous operation of the aerial robot in complex task environment.

[0100] In some embodiments, the process of step S100 above includes:

[0101] S110: establish the inertial coordinate system and the body coordinate system of the aerial robot, define the aerial robot's center of mass position vector , velocity vector , attitude rotation matrix , and angular velocity vector .

[0102] S120: A translational dynamics model of the aerial robot is established based on Newton's second law, and the following equation is obtained:

[0103] ;

[0104] wherein, is the mass of the aerial robot, is the gravitational acceleration, is a generalized thrust input, is an external disturbance force, and the matrix = [0, 0, 1] represents a vertically downward direction, is a centroid position vector of the aerial robot is a derivative of the velocity vector .

[0105] S130: A rotational dynamics model of the aerial robot is established, and the following equation is obtained:

[0106] ;

[0107] wherein, is a rotational inertia matrix of the aerial robot, is a control torque input, is an external disturbance torque, is an angular velocity anti-symmetric matrix, is a three-axis rotation matrix of the aerial robot.

[0108] S140: A relationship between motor thrusts and total thrusts and torques is established:

[0109] ;

[0110] wherein, is a horizontal distance between the motor and the centroid, is a propeller torque coefficient, is the i-th motor thrust, i.e. corresponds to four motor thrusts, is a total thrust of the aerial robot, is a three-axis torque of the aerial robot, which is a three-axis component of the control torque input, i.e. .

[0111] In some embodiments, the specific implementation process of step S200 is as follows:

[0112] S210: A unified representation of external generalized forces and torques is established. The external disturbance forces and torques acting on the aerial robot during flight are represented as​​ with external disturbance torque combined into a generalized external torque vector :

[0113] ;

[0114] S220: Construct an external torque estimator in Laplace domain. Set the estimated generalized torque vector as , s is the Laplace operator, which satisfies the relationship between the real external torque

[0115] ;

[0116] wherein, is a diagonal matrix, each diagonal element is the transfer function of the second-order under-damped system:

[0117] ;

[0118] ensures that the estimated value dynamically tracks the real external torque, is the natural frequency of the second-order under-damped system, is the damping ratio of the second-order under-damped system, and i is the number of the torque in the three-axis direction;

[0119] S230: Convert the above external torque estimator into a time-domain differential equation to obtain:

[0120] ;

[0121] wherein, is a diagonal positive definite matrix, is the time-domain expression of , is the time-domain expression of , is the derivative of , is the derivative of .

[0122] S240: Solve the above time-domain differential equation to obtain the external torque estimator:

[0123] ;

[0124] From the above formula, it can be seen that the external torque estimator only needs the speed and the input to complete the estimation of the external torque, which greatly ensures the stability. It should be understood that the above formula is solvable for those skilled in the art.

[0125] wherein, the parameter value ​​​​By determined, when the following conditions are met:

[0126] ;

[0127] estimated value can asymptotically converge to the true value , the method can realize real-time estimation of the force condition of the aerial robot without additional installation of an external torque sensor, thereby reducing the system weight and cost.

[0128] In some embodiments, the implementation process of step S300 includes:

[0129] S310: Establishing the dynamics equation of impedance control. The interaction between the aerial robot and the environment is abstracted as a mass-damping-stiffness system, and the desired trajectory is , the command trajectory is , and the system satisfies:

[0130] ;

[0131] wherein are the desired mass, damping and stiffness parameters, respectively, is the desired force, is the derivative of , and is the derivative of .

[0132] S320: In the free flight state, set the desired force , and the impedance control becomes a trajectory tracking control law:

[0133] ;

[0134] S330: In the contact operation scene, set the desired force , and compensate for the force deviation through the force error term , convert the force tracking into position tracking, is the external force acting on the aerial robot estimated by the external torque estimator.

[0135] ;

[0136] It should be understood that the technical solution of the present application designs the impedance system into two modes of free flight state and contact state. S320 is in the free flight state, and since the desired force does not need to be applied, it is only simple trajectory tracking. S330 is in the contact operation scene, and when the aerial robot is expected to output the desired force, the difference between the force observed by the environment and the desired force is adjusted to approach the desired force by adjusting the command position input to the aerial robot.

[0137] Among them, by adjusting Parameters can balance force accuracy and position accuracy, enabling aerial robots to maintain trajectory stability and safely achieve force control in complex environments. This avoids force tracking errors caused by pure position control and trajectory deviations caused by pure force control. In practical implementation, generally... The parameters are based on debugging experience, and this invention does not limit their specific values.

[0138] In some embodiments, the specific process of step S400 includes:

[0139] S410: Define the translational error of an aerial robot. and speed error :

[0140] ;

[0141] In the formula, Translation error The derivative of .

[0142] S420: Constructing a sliding surface based on translational and velocity errors:

[0143] ;

[0144] in, The gain matrix is ​​positive definite. The sliding surface S couples position and velocity information, enabling the controller to balance steady-state accuracy and dynamic response.

[0145] S430: Differentiating the sliding surface:

[0146] ;

[0147] Combining the translational dynamics equations of the aerial robot mentioned earlier:

[0148] ;

[0149] We can obtain:

[0150] ;

[0151] S440: Using the external force estimator, let:

[0152] ;

[0153] in, This is an estimate of the external disturbance force. To estimate the error, substituting the sliding surface derivative yields the open-loop control law for the position loop:

[0154] ;

[0155] S450: Combine the model uncertainty and inevitable external disturbance with a combined disturbance vector Description, are the disturbance amounts of the X, Y, Z three axes in the air robot body coordinate system, respectively, and on this basis, the output of the position loop can be written as:

[0156] ;

[0157] where, is the virtual input to be designed (position loop generalized force output control quantity). According to this, the double sliding mode feedback controller of the system is designed:

[0158]

[0159] ;

[0160] Get the position loop generalized force output control quantity , which is used to control the three-axis thrust of the air robot, is a 3x1 vector representing the force of the three axes, respectively, and is substituted into to obtain the closed-loop control law of the position loop:

[0161] ;

[0162] where, the nonlinear term and the linear term ensure the fast convergence of the system near the equilibrium point and the original principle equilibrium point, respectively. is the double sliding mode integral term, is the sliding mode term gain coefficient, is the sliding mode integral term gain coefficient, is the sliding mode S, the sliding mode S is related to time, so an integral variable is needed when integrating.

[0163] S460: To ensure that the virtual input can correctly act on the air robot in the translation direction, an attitude controller is designed to generate the appropriate thrust direction, for which the air robot attitude error is defined:

[0164] ;

[0165] ;

[0166] where, and are the expected rotation matrix and expected angular velocity of the air robot, respectively, is the attitude rotation matrix, respectively are the attitude error and the angular velocity error; is the filtering error of the aerial robot attitude loop; is a positive constant, which is a gain parameter of the attitude error.

[0167] Taking the derivative of the attitude error, we have:

[0168]

[0169] According to the rotational dynamics:

[0170]

[0171] The open-loop control rate of the attitude loop can be obtained:

[0172]

[0173] wherein, respectively are the desired attitude and the desired angular velocity, are positive constants, which are respectively a gain parameter of the filtering error and another gain parameter of the attitude error, is a 3x3 linear operator, I is the identity matrix, and the tr function is the trace of the matrix. For this, the robust controller of the attitude loop is designed as:

[0174]

[0175] The torque output control quantity of the attitude loop is obtained , which has the same meaning as the control torque input in S130, M is a 3x1 vector corresponding to the size of the three-axis torque, and the torque output control quantity is used to control the three-axis torque of the aerial robot. Among them, is the filtering error feedback, is the attitude error feedback, is the angular velocity error feedback, is the external torque compensation term, is the gyro effect compensation term, is the attitude dynamic coupling compensation term, and is substituted into to obtain the closed-loop control law of the attitude loop:

[0176]

[0177] It should be understood that the design of the controller through the cascade of the position loop and the attitude loop in this embodiment ensures the rapid convergence of the translational error and the rotational error. This belongs to the further technical optimization of the present application, and in other feasible embodiments, a general position loop and an attitude loop can be selected.

[0178] ​​​​​Based on the foregoing best embodiment of the present application, step S500 comprises:

[0179] S510: For analyzing the global stability of the system, a composite Lyapunov function is constructed, including the translational subsystem and the attitude subsystem:

[0180]

[0181]

[0182]

[0183] wherein, are the Lyapunov functions of the position loop and the attitude loop respectively, represents the nonlinear part, represents the sum of the integral term and the combined disturbance, is the attitude error on the three-dimensional special orthogonal group (SO(3)), is the parameter of the attitude error, the Lyapunov function can simultaneously depict the error energy of the aerial robot in translation and rotation, and provides a basis for subsequent stability proof. It should be understood that the Lyapunov direct method is a common technical means for proving the stability of a system in the art, and when the model of the system changes adaptively, such as the model change of the position loop controller and the attitude loop controller, the translational subsystem and the attitude subsystem are adaptively replaced.

[0184] S520: Define , are variables in the three-axis components, the Lyapunov function of the translational subsystem can be written as:

[0185]

[0186] wherein, is a positive definite matrix. Taking the derivative of can obtain:

[0187]

[0188]

[0189] wherein, is the coefficient of the quadratic term, is the coefficient related to x, y, and z are the directional axes, are the three-axis components of , can be written as , and thus can obtain:

[0190] ​​​​​​​ ;

[0191] wherein, and are symmetric positive definite matrices.

[0192] S530: Derivation of the rotation Lyapunov function of the attitude subsystem ;

[0193] ;

[0194] wherein, , is a positive coefficient, and X is the air robot attitude loop filtering error.

[0195] S540: Derivation of the derivative of the Lyapunov function of the system from the error energy derivatives of translation and rotation

[0196] ;

[0197] There exists a constant such that:

[0198] ;

[0199] From the above, it is proved that the proposed closed-loop control law ensures the monotonic decrease of the Lyapunov function, and the global stability of the system under the translation and rotation subsystems is proved. In the presence of disturbance, the system state is uniformly ultimately bounded (UUB); in S200, the external torque estimator can asymptotically converge to the true value under the condition that , the system error converges to zero in a finite time.

[0200] In summary, the best embodiment of the present application significantly improves the force control accuracy and trajectory tracking stability of the air robot in an uncertain environment by fusing external torque estimation, impedance modeling and double feedback sliding mode control. And by the Lyapunov method, it is strictly proved that the closed-loop system remains uniformly ultimately bounded under bounded disturbance, and realizes asymptotic convergence when the disturbance disappears.

[0201] Based on this technical idea, in actual application, the control process of the air robot is as shown in Figure 2 First, the air robot calculates the external disturbance force and the disturbance torque of the air robot in real time based on the generalized torque estimator, without the need for additional sensors to perceive the environmental action, solving the weight and cost problems caused by the dependence of traditional methods on hardware; secondly, the impedance control framework parameterized by mass-damping-stiffness is adopted, and the expected position and the expected force , get the command position of the unmanned aerial vehicle , while ensuring trajectory accuracy, realizing contact force soft adjustment, effectively suppressing overshoot and oscillation in the unknown stiffness environment; further, a double feedback sliding mode control structure is designed: a sliding mode surface is constructed in the position loop and external force compensation and nonlinear terms are introduced, to ensure rapid convergence of the trajectory; in the attitude loop, attitude and angular velocity feedback are combined, disturbance torque compensation and gyro effect correction are combined, to ensure stable attitude. To verify the feasibility of the theory proposed in the application, the application carries out high-fidelity physical simulation, wherein Figure 3 , the trajectory tracking effect of the aerial robot in the non-contact free flight state, to further verify the force contact effect of the aerial robot and the environment, the simulation environment shown in Figure 4a is built, and the collision model of the aerial robot is expanded, as shown in Figure 4b , on this basis, the aerial robot first freely flies to the wooden box position and contacts, as shown in Figure 5 , the trajectory tracking effect is as shown in Figure 6 , and then after contacting the wooden box, 1.2N force is applied to the wooden box, and the force effect is as shown in Figure 7 . The method realizes the integrated closed-loop design of "estimation-control-stability analysis", so that the aerial robot can safely perform contact operation and trajectory tracking task in unknown or dynamic environment, and can be widely applied to power inspection, disaster rescue and environment detection scenes, and has high engineering practical value and popularization potential.

[0202] In other feasible embodiments, within the error allowable range, refer to Figure 2 flow, based on the generalized torsion estimator, the external disturbance force and disturbance torque suffered by the aerial robot are calculated in real time, after that, the trajectory tracking and the position loop and attitude loop controllers can be replaced according to the accuracy requirements, and the application does not make specific limitations.

[0203] Embodiment 2

[0204] The application also provides a control system based on the above-mentioned aerial robot control method, which adopts a hierarchical control framework and is provided with an external torsion estimator, a force / trajectory tracking module, a position loop controller and an attitude loop controller connected in sequence or with each other.

[0205] The outer torque estimator is configured to estimate the generalized outer torque acting on the aerial robot based on real-time data of the aerial robot, wherein the generalized outer torque is defined by an external disturbance force and an external disturbance torque, and the external disturbance force and the disturbance torque are estimated in the Laplace domain and approximated by a second-order differential equation in the time domain to approach the real external force, so that the real-time estimation of the outer torque is realized without installing an outer torque sensor.

[0206] The force / trajectory tracking module is configured to perform force / trajectory tracking based on the desired position and the desired force of the aerial robot and the observed generalized outer torque, and to obtain a command position of the aerial robot by using impedance control. In some embodiments, the impedance control equation is established based on a mass-damping-stiffness model, and the desired mass, damping and stiffness parameters are set to realize force-position hybrid control. In the free flight state, the trajectory tracking control law is used, and in the contact operation state, the contact force control is realized by compensating the outer torque.

[0207] The position loop controller is configured to output a position loop output control quantity for controlling the three-axis thrust of the aerial robot. In some embodiments, the position error and the velocity error are defined in the position loop controller, a sliding mode surface is constructed, the sliding mode surface is derived, and a virtual input control law is designed. The external force compensation, the nonlinear term and the integral term are introduced into the control law to ensure the rapid convergence of the sliding mode surface and the suppression of the external force disturbance.

[0208] The attitude loop controller is configured to output an attitude loop output control quantity for controlling the three-axis torque of the aerial robot. In some embodiments, the attitude error and the angular velocity error are defined in the attitude loop controller, a filtered error is constructed, and an attitude control law is designed. The attitude error feedback term, the angular velocity feedback term, the external torque compensation term and the gyroscopic effect compensation term are introduced to realize the convergence of the attitude error and the angular velocity error.

[0209] In some embodiments, the control system further comprises a stability analysis module configured to construct an overall energy function comprising translational energy and rotational energy based on the Lyapunov method, to derive the closed-loop system, and to prove that the system state satisfies the uniform ultimate boundedness (UUB) under the condition that the estimation errors of the external force and the external torque are bounded, and to realize asymptotic convergence when the disturbance disappears.

[0210] It should also be understood that the specific implementation process of each module can refer to the above method content, which will not be repeated here. The division of the above functional modules is only for illustrative purposes. In some embodiments, part of the functional modules can be combined, part of the functional modules can be split, and each functional module can be implemented in software, hardware or a combination of software and hardware. The software and hardware devices include but are not limited to general-purpose computer devices, programmable gate arrays, digital signal processors, microprocessors and their corresponding programming or burning software.

[0211] Embodiment 3

[0212] The application further provides an aerial robot based on the control system, wherein the control terminal on the body of the aerial robot is the control system of the above-mentioned embodiments; or the external terminal in communication connection with the control terminal of the aerial robot is the control system.

[0213] In addition, in some implementations, the hardware structure of the control system is provided with a processor and a memory, wherein the memory stores a computer program, and the computer program is called by the processor to realize the steps of the above-mentioned aerial robot control method. The specific steps can be referred to the foregoing method embodiments.

[0214] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The processor is used to execute related programs to realize the technical solutions provided by the embodiments of the application.

[0215] The memory can be implemented in the form of read-only memory (ROM), static storage device, dynamic storage device or random access memory (RAM), etc. The memory can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the application are implemented by software or firmware, the related program codes are saved in the memory and called and executed by the processor to execute the algorithm program of the aerial robot control method of the embodiments of the application.

[0216] Embodiment 4

[0217] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the aerial robot control method for complex environment.

[0218] The specific implementation process of each step can be referred to the foregoing description of the control method embodiments.

[0219] The readable storage medium is a computer readable storage medium, which can be an internal storage unit of the software and hardware device in any of the foregoing embodiments, such as a hard disk or a memory of the controller. The readable storage medium can also be an external storage device of the controller, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the readable storage medium can include both the internal storage unit and the external storage device of the controller. The readable storage medium is used to store the computer program and other programs and data required by the controller. The readable storage medium can also be used to temporarily store data that has been output or will be output.

[0220] Based on such understanding, the technical solutions of the present application, essentially or in the sense of contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The foregoing readable storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0221] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer readable code. The present application is directed to a method, apparatus (system) and computer program product at any one of the method embodiments according to the present application, and any combinations of the method embodiments according to the present application, the processor- implemented process producing the apparatus with the functionality to perform the functions specified in one or more of the flow diagrams and / or block diagrams according to the present application. These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in one or more of the flow diagrams and / or block diagrams according to the present application. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the flow diagrams and / or block diagrams according to the present application.

[0222] It should be emphasized that the above-described embodiments of the present application are merely illustrative of the present application and are not intended to be limiting thereof. Therefore, the present application is not limited to the embodiments described in the specific embodiments, but any other embodiments derived by those skilled in the art from the technical solutions of the present application, without departing from the spirit and scope of the present application, whether modified or replaced, also belong to the protection scope of the present application.

Claims

1. A method for controlling an aerial robot in a complex environment, the method comprising: The aerial robot control method adopts a hierarchical control framework, and specifically comprises the following steps: ​ S1: Generalized external disturbance torque observation, defining a generalized external disturbance torque composed of external disturbance force and external disturbance torque, introducing an external disturbance torque estimator, and observing the generalized external disturbance torque acting on the aerial robot based on real-time data of the aerial robot; S2: Force / trajectory tracking, based on the desired position and desired force of the aerial robot and the observed generalized external disturbance torque, force / trajectory tracking is performed using impedance control to obtain the command position of the aerial robot; S3: Attitude control and position control, based on the observed generalized external disturbance torque and the command position of the aerial robot, a position loop controller outputs a position loop output control quantity for controlling the three-axis thrust of the aerial robot, and an attitude loop controller outputs an attitude loop output control quantity for controlling the three-axis torque of the aerial robot; Wherein, the generalized external disturbance torque is defined as: ； wherein is the external disturbance force to which the aerial robot is subjected during flight, is the external disturbance torque, is the generalized external wrench vector; Further, the external disturbance torque estimator is constructed in the Laplace domain and converted into a time domain differential equation, and the mathematical model of the external disturbance torque estimator obtained by solving the time domain differential equation is: ； where is the estimated value of the observed generalized side force vector is the estimated value of the observed generalized side force vector is a diagonal positive definite matrix is the aerial robot mass, g is the gravity acceleration is the generalized thrust input, matrix = [0, 0, 1] represents the vertical downward direction is the angular velocity vector is the aerial robot moment of inertia matrix is the velocity vector, t is the time, M is the control torque input; parameter values are given by the matrix element values determining, parameter value from matrix element values decide, , and the custom parameters satisfy: ; wherein a velocity of the aerial robot is input to the outer torque estimator and state parameters , an estimated value of the generalized outer torque vector is observed .

2. The aerial robot control method of claim 1, wherein: The process of obtaining the command position of the aerial robot by using impedance control for force / trajectory tracking is as follows: The interaction of the aerial robot with the environment is abstracted as a mass-damper-stiffness system, with the desired trajectory as , the command trajectory as , and the dynamics equation of impedance control is established as follows: ； wherein, are the desired mass, damping and stiffness parameters, respectively, is the desired force, is is the derivative of is is the derivative of is an external disturbance force; An impedance control mode under free flight state and contact operation scene is proposed, and corresponding impedance control is performed based on the state of the aerial robot to obtain the command position of the aerial robot; Wherein, if the aerial robot is in a free flight state, set the desired force , impedance control becomes trajectory tracking control law: ； If the aerial robot is in a contact operating scenario, set the desired force and convert the force tracking to position tracking by compensating the force bias through the force error term : ； In the formula, is the external disturbance force suffered by the aerial robot estimated by the external torque estimator.

3. The aerial robot control method of claim 1, wherein: The position loop controller is a double sliding mode feedback controller, used for outputting a position loop output control quantity , and further controlling the three-axis thrust of the aerial robot. The double sliding mode feedback controller is to construct a sliding mode surface in the position loop, design a virtual input control law and introduce external force compensation, nonlinear terms and integral terms in the virtual input control law, as follows: combining the model uncertainty with the inevitable external disturbances into one combined disturbance vector described, are the disturbance amounts of the X, Y, Z three axes in the air robot body coordinate system respectively, T is a matrix transpose symbol, and the output of the position loop is: ； wherein, a generalized thrust input for the aerial robot, a virtual input to be designed for the aerial robot, i.e. the position loop output control variable; Accordingly, the double sliding mode feedback controller: ； ； wherein is the acceleration of the aerial robot, g is the acceleration of gravity, matrix = [0, 0, 1] represents the vertical downward direction, is the derivative of , is the derivative of the command trajectory , is the external disturbance force estimated by the external disturbance estimator, is a positive definite gain matrix, is the velocity error of the aerial robot, i.e. , is the derivative of the aerial robot's center of mass position vector , is the double sliding mode integral term, t is time, is the sliding mode term gain coefficient, is the sliding mode integral term gain coefficient, is the sliding mode surface S, the sliding mode surface S is time-dependent, so an integral variable is needed when integrating; the sliding mode surface S is constructed based on the translation error and the velocity error, , is the translation error of the aerial robot; where the position loop output control quantity Substituting The position loop closed-loop control law can be obtained ； wherein is an estimation error of the external disturbance force, is a derivative of the sliding surface S, is a sign of the sliding surface S.

4. The aerial robot control method of claim 1, wherein: The filter error is constructed in the attitude loop controller, the attitude control law is designed, the attitude error feedback item, the angular velocity feedback item, the external torque compensation item and the gyro effect compensation item are introduced, so as to obtain the attitude loop controller output control quantity The control torque input is used for controlling the three-axis torque of the aerial robot. Wherein, the aerial robot attitude error is defined as: ； ； wherein, and are the desired rotation matrix and the desired angular velocity of the aerial robot, respectively, is the angular velocity vector, is the attitude rotation matrix, T is the matrix transpose symbol, are the attitude error and the angular velocity error, respectively; is the aerial robot attitude loop filtering error; is a positive constant, is the gain parameter of the attitude error, is the operator symbol that transforms a skew-symmetric matrix into a vector; The mathematical model of the designed robust controller of the attitude loop is: ； wherein, are normal numbers, respectively a gain parameter of the filtering error and another gain parameter of the attitude error, is a 3x3 linear operator, I is the identity matrix, and tr is the trace function; is the anti-symmetric matrix of angular velocity, is the air robot rotational inertia matrix, is the derivative of is the external disturbance torque estimated by the external torque estimator, wherein, is the filtering error feedback, is the attitude error feedback, is the angular velocity error feedback, is the external torque compensation term, is the gyroscopic effect compensation term, is the attitude dynamic coupling compensation term;​ Substituting into the closed-loop control law for the attitude loop is obtained: ； where is the derivative of the moment estimation error , is the external disturbance moment.

5. A complex environment-oriented aerial robot control method, characterized by: Comprising the following steps: S100: Constructing the kinematics and dynamics equations of the aerial robot, defining state variables including at least position, velocity, attitude, angular velocity, and introducing external contact force; S200: Defining a generalized external disturbance torque composed of external disturbance force and external disturbance torque, designing an external disturbance torque estimator, and then observing the generalized external disturbance torque acting on the aerial robot based on real-time data of the aerial robot; S300: Introducing an impedance control method to realize force / trajectory tracking, wherein based on the desired position and desired force of the aerial robot and the observed generalized external disturbance torque, impedance control is used for force / trajectory tracking to obtain the command position of the aerial robot; S400: Designing a position loop controller and an attitude loop controller, which are based on the observed generalized external disturbance torque and the command position of the aerial robot to output a position loop output control quantity and an attitude loop output control quantity; S500: Proving the stability and convergence of the control process of S100-S400 by Lyapunov direct method; Further, based on the designed external disturbance torque estimator, force / trajectory tracking, and position loop controller and attitude loop controller, the aerial robot is controlled to realize stable operation; Wherein, the generalized external disturbance torque is defined as: ； wherein is the external disturbance force to which the aerial robot is subjected during flight, is the external disturbance torque, is the generalized external wrench vector; Further, the external disturbance torque estimator is constructed in the Laplace domain and converted into a time domain differential equation, and the mathematical model of the external disturbance torque estimator obtained by solving the time domain differential equation is: ； wherein is the estimated value of the observed generalized side force vector is the estimated value of the observed generalized side force vector is a diagonal positive definite matrix is the aerial robot mass, g is the gravity acceleration is the generalized thrust input, matrix = [0, 0, 1] represents the vertical downward direction is the angular velocity vector is the aerial robot moment of inertia matrix is the velocity vector, t is the time, M is the control torque input; parameter values are the matrix element values determining, parameter value from matrix element values decide, , and the custom parameters satisfy: ; wherein a velocity of the aerial robot is input to the outer torque estimator and state parameters , an estimated value of the generalized outer torque vector is observed .

6. The aerial robot control method of claim 5, wherein: The Lyapunov function constructed in S500 is a composite Lyapunov function, and comprises a translation subsystem and an attitude subsystem, and is specifically as follows: ； ； ； wherein Lapunov functions of the position and attitude loops, respectively, denotes the nonlinear part, S is the sliding surface of the position loop, is the gain coefficient of the sliding mode term, is the gain coefficient of the sliding mode integral term, denotes the sum of the integral term and the combined disturbance, is the double sliding mode integral term, is the disturbance vector, is the attitude error on the three-dimensional special orthogonal group, is the desired rotation matrix of the aerial robot, is the attitude rotation matrix, T is the matrix transpose symbol, is the moment of inertia matrix of the aerial robot, is the attitude error parameter, is the angular velocity error.

7. A control system based on the method of controlling an aerial robot according to any one of claims 1 to 4, characterized in that: The control system adopts a hierarchical control framework, and at least comprises: An external torque estimator, configured to observe a generalized external torque acting on the aerial robot based on real-time data of the aerial robot; wherein the generalized external torque is defined by an external disturbance force and an external disturbance torque; A force / trajectory tracking module, configured to perform force / trajectory tracking on the aerial robot based on a desired position and a desired force of the aerial robot and the observed generalized external torque, to obtain a command position of the aerial robot by using impedance control; A position loop controller, configured to output a position loop output control quantity, and used to control three-axis thrust of the aerial robot; An attitude loop controller, configured to output an attitude loop output control quantity, and used to control three-axis torque of the aerial robot.

8. An aerial robot based on the control system of claim 7, characterized by: The control terminal on the body of the aerial robot is the control system; or an external terminal in communication connection with the control terminal of the aerial robot is the control system.

9. A computer-readable storage medium, characterized in that: A computer program is stored, and the computer program is called by a processor to implement steps of the aerial robot control method in any one of claims 1-4 or steps of the aerial robot control method in any one of claims 5-6.

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