反推
控制理论(社会学)
控制器(灌溉)
弹道
轨迹优化
计算机科学
趋同(经济学)
高斯分布
控制工程
自适应控制
工程类
数学优化
最优控制
人工智能
数学
控制(管理)
天文
物理
生物
经济
量子力学
经济增长
农学
作者
Bin Lin,Wei Chen,Haibin Duan
出处
期刊:Lecture notes in electrical engineering
日期:2023-01-01
卷期号:: 2800-2809
标识
DOI:10.1007/978-981-19-6613-2_272
摘要
For aerial manipulation, there are many challenging problems such as coupled force control and compensation of uncertain external disturbance. In this study, the backstepping controller utilizing a full coupled dynamic model is developed to control the Unmanned Aerial Vehicle (UAV) with a manipulator. In addition, the entire system is required to track the desired trajectory when the end-effector of the manipulator is disturbed by a lightweight object. Considering the precision requirement, the control problem is transformed into a controller parameter tuning problem and as well as makes full use of the heuristic optimization algorithm to search for a set of suitable parameters. Furthermore, in view of the difficulty of parameter tuning of the backstepping controller, a Gaussian Adaptive Mutation Pigeon-Inspired Optimization (GAMPIO) algorithm is proposed. Finally, a series of simulations, compared with other optimization algorithms, are conducted to demonstrate the GAMPIO’s superiority. The results verify that GAMPIO has faster convergence and better exploration capability to make end-effector performances better in trajectory tracking.
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