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Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

Applied Mathematics and Mechanics(English Edition) 2024年第4期45卷 603-618页

作者： Chen AN Jiaxi ZHOU Kai WANG College of Mechanical and Vehicle Engineering Hunan UniversityChangsha 410082China Department of Mechanical Engineering The Hong Kong Polytechnic UniversityHong KongChina

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter *** hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external ***,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial ***,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system ***,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and *** simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

关键词： aerial robot hierarchical control strategy model-free iterative sliding mode controller(MFISMC) trajectory tracking reinforcement learning

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Transparency and Stability of An Haptic Trackball Interface for Bilateral Teleoperation of VTOL aerial robots

Transparency and Stability of An Haptic Trackball Interface ...

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第37届中国控制会议

作者： HOU Xiaolei QU Yaohong YUAN Dongli XING Xiaojun YAN Jianguo School of Automation Northwestern Polytechnical University

In this paper,we present the transparency and stability analysis for a novel haptic trackball interface for bilateral teleoperation of vertical taking-off and landing(VTOL) aerial robots.A haptic trackball is built and configured in admittance mode;that is,measuring force input from a human operator and feeding back rotational *** angular velocity of the trackball is servo controlled to track the horizontal velocity of the aerial vehicle and the applied force is used as a control reference for horizontal force applied to the *** proposed interface provides an intuitive perception of the slave vehicle’s horizontal displacement in a transparent and stable *** system was implemented for teleoperation of a quadrotor aerial vehicle and the results demonstrate the potential of the interface for such applications.

关键词： Teleoperation Haptic Feedback aerial robot Transparency Stability

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