基于干扰估计器的飞行机械臂非奇异终端滑模柔顺控制

Non⁃singular Terminal Sliding Mode Compliance Control of Aerial Manipulator Based on Disturbance Observer

针对飞行机械臂的接触作业问题,设计了一种基于干扰估计器的飞行机械臂非奇异终端滑模柔顺控制算法。该算法在非奇异终端滑模控制的基础下,引入干扰观测器,对系统的扰动进行估计,从而减小系统估计误差、机械臂的扰动以及外部扰动对飞行器的影响。最后,仿真实验结果表明,所提出的控制器具有较好的鲁棒性,可以减小系统估计误差、机械臂的扰动以及外部扰动,同时可以平稳移动下保证接触力的稳定。

Aiming at the contact operation problem of aerial manipulator,a non-singular terminal sliding mode compliant control algorithm for aerial manipulator based on disturbance observer is designed.The algorithm introduces disturbance observer on the basis of nonsingular terminal sliding mode control.The disturbance is estimated to reduce the system estimation error,the disturbance of the manipulator and the influence of external disturbance on the rotorcraft.Finally,the simulation results show that the proposed controller has good robustness.Meanwhile,it can reduce the system estimation error,the disturbance of the manipulator and the external disturbance,and ensure the stability of the contact force under smooth movement.