Adaptive Sliding-Mode Disturbance Observer-Based Nonlinear Control for Unmanned Dual-Arm Aerial Manipulator Subject to State Constraints
作者机构：College of Artificial IntelligenceNankai University Tianjin 300350P.R.China
出 版 物：《Guidance, Navigation and Control》 (制导、导航与控制（英文）)
年 卷 期：2023年第3卷第3期
页 面：47-64页
学科分类：08[工学] 0811[工学-控制科学与工程]
基 金：supported in part by the National Natural Science Foundation of China under Grant 62273187,and Grant 62233011 in part by the Young Elite Scientists Sponsorship Program by Tianjin under Grant TJSQNTJ-2020-21 in part by the Haihe Lab of ITAI under Grant 22HHXCJC00003.
主 题：Unmanned dual-arm aerial manipulator adaptive sliding-mode disturbance observer state constraint
摘 要：The unmanned dual-arm aerial manipulator system is composed of a multirotor unmanned aerial vehicle(UAV)and two manipulators.Compared to a single manipulator,dual-arm always provides greater°exibility and versatility in both goods delivery and complex task execution.However,the practical application of the system is limited due to nonlinearities and complex dynamic coupling behavior between the multirotor and the manipulator,as well as the one between the inner and outer loop of the multirotor.In this paper,a holistic model of the dual-arm aerial manipulator system is¯rst derived with complete model information.Subsequently,an adaptive sliding-mode disturbance observer(ASMDO)is proposed to handle external disturbances and unmeasurable disturbances caught by unmeasurable angular velocity and acceleration of the manipulators.Moreover,for safety concerns and transient performance requirements,the state constraints should be guaranteed.To this end,an auxiliary term composed of constrained variable signals is introduced.Then,the performance of the designed method is proven by rigorous analysis.Finally,the proposed method is validated through two sets of simulation tests.
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