控制理论(社会学)
工作区
非线性系统
控制器(灌溉)
模型预测控制
扭矩
补偿(心理学)
非线性模型
计算机科学
观察员(物理)
悬挂(拓扑)
全向天线
控制工程
工程类
机器人
人工智能
控制(管理)
数学
物理
纯数学
热力学
同伦
生物
电信
量子力学
天线(收音机)
心理学
精神分析
农学
作者
Arda Yiğit,Miguel Arpa Perozo,Loïc Cuvillon,Sylvain Durand,Jacques Gangloff
标识
DOI:10.1109/icra48506.2021.9561529
摘要
Aerial manipulation increases significantly the workspace size of robotic manipulators. However, aerial manipulation suffers from a lack of autonomy due to limited embedded energy. The Aerial Manipulator with Elastic Suspension (AMES) is designed to cope with this issue. It is an omnidirectional aerial vehicle equipped with a gripper and suspended under a robotic carrier by a spring for gravity compensation. In this paper, the AMES is controlled with a nonlinear model predictive controller (NMPC). To eliminate the steady-state errors, an observer based on a model of the AMES augmented with constant disturbances is implemented in conjunction with the NMPC controller. Experiments illustrate the efficiency of the NMPC by comparing it to a computed torque controller.
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