面向旋翼飞行器的仿生机械臂终端滑模控制

Sliding mode control of bionic manipulator developed for rotorcraft

为满足不断增长的空中作业需求,提出一种面向旋翼飞行器的仿生机械臂,并针对仿生机械臂的控制问题,设计一种基于时延估计及模糊自适应增益调整的非奇异终端滑模控制器,该方法采用时延估计技术对仿生飞行机械臂系统的未知动力学参数进行估计,不需要精确的动力学模型,更具实用性。控制器的主要部分是非奇异终端滑模,在时延估计误差和外界干扰下,具有良好的跟踪精度和鲁棒性。此外,引入模糊自适应增益调整,使得误差能够更快收敛。最后,通过一个新设计的仿生机械臂实验平台进行对比实验。研究结果表明:与传统结构的飞行机械臂相比,面向旋翼飞行器的仿生机械臂具有更低的驱动能耗及更高的交互安全性。与传统的非奇异终端滑模控制器相比,该控制器具有更快的误差收敛速度,可以保证更优的综合控制性能,初始阶段跟踪误差峰值减小了近30%,稳定阶段误差峰值保持不超过1°。

In order to satisfy the increasing demand of aerial operation,a bionic manipulator was proposed.Aiming at the control problem of bionic aerial manipulator,a nonsingular terminal sliding mode controller based on time delay estimation and adaptive fuzzy logic system was designed.The time-delay estimation technology was used to estimate the unknown kinetic parameters of the bionic aerial manipulator system,which does not need accurate dynamic model,and is more practical.The main part of the controller is nonsingular terminal sliding mode,which has good tracking accuracy and robustness with time delay estimation error and external disturbance.In addition,adaptive fuzzy logic system was introduced to make the error converge faster.Finally,a new experimental platform of bionic aerial manipulator was designed to carry out comparative experiments.The results show that compared with the traditional structure of the aerial manipulator,the bionic manipulator has lower driving energy consumption and higher interactive security.Compared with the traditional nonsingular terminal sliding mode controller,the proposed controller has faster error convergence speed and better comprehensive control performance.The tracking error peak value is reduced by nearly 30% in the initial phase and kept within 1°in the stable phase.