Hybrid Force/Position Control for Switchable Unmanned Aerial Manipulator Between Free Flight and Contact Operation

Zhang, Zhenguo; Chen, Yanjie; Wu, Yangning; He, Bingwei; Miao, Zhiqiang; Zhang, Hui; Wang, Yaonan

doi:10.1109/tase.2023.3294254

Cited by 3 publications

(3 citation statements)

References 45 publications

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“…In addition to robustness, control algorithms must also exhibit accuracy. Two types of methods are commonly used to achieve high-accuracy performance: model-based strategies [7,8] and traditional high-gain control algorithms, such as various sliding mode controllers [15][16][17]. However, completely modeling the robot dynamics is laborious, and modelbased control strategies are computationally demanding.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Practical Prescribed Tracking Control of n-DOF Robotic Manipulator with Uncertainties via Friction Compensation Approach

Chen,

Du,

Chen

et al. 2024

Symmetry

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This paper presents a practical and straightforward control strategy for robotic manipulators with unknown dynamics to achieve prescribed tracking performance, which has implementation advantages compared with previous work. In particular, an improved extended state observer (ESO) synthesized with a continuously differentiable friction model and time-varying gains is presented to estimate system states and unknown dynamics. This ESO outperforms the conventional ones in dealing with friction mutations while avoiding peaking estimation values in the initial stage. By combining the prescribed performance function and the proposed ESO, an independent joint control scheme is proposed for a robotic manipulator to keep the tracking error within a predefined performance bound based only on position measurements. The effectiveness of the proposed control scheme is verified by comparative simulation and experimental results on a six-degrees-of-freedom robotic manipulator with active disturbance rejection controller and PID methods.

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Section: Related Workmentioning

confidence: 99%

“…Theorem 1. Consider the error system (17) and the VGFESO (15). If ω(t) ≥ 4c∥P∥, then the scale estimation error η is uniformly ultimately bounded.…”

Section: Vgfeso Designmentioning

confidence: 99%

Practical Prescribed Tracking Control of n-DOF Robotic Manipulator with Uncertainties via Friction Compensation Approach

Chen,

Du,

Chen

et al. 2024

Symmetry

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“…The feasibility of position/force hybrid control of continuum robots is verified by experiments. Zhang et al (2023) proposed a hybrid force/position control strategy for a switchable unmanned aerial vehicle manipulator (UAM) system. In this strategy, the adaptive synovial control method is adopted in the flight stage of UAM, and the adaptive resistance control method is used in contact operation.…”

Section: Introductionmentioning

confidence: 99%

Research on force/position switching control of servo actuator for hydraulically driven joint robot

Gao,

Wang,

Han

et al. 2024

Transactions of the Institute of Measurement and Control

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According to the robot’s walking motion characteristics, the position/force switching control is studied to realize the segmental control of the robot stroke. This stroke is controlled by position when the foot end of the robot descends from the suspension to the ground. To avoid excessive contact force when the robot touches the ground, force control is carried out when the foot touches the ground. Due to the force and position control methods and control parameters of the hydraulic quadruped robots are different, the precise mathematical model for the joint position control and joint force control of the leg joints of the hydraulic quadruped robot is established using the system identification method. A fuzzy multi-model switching algorithm is proposed to solve the problem of jumping and jitter of system parameters in the process of force/position switching. Through simulation and prototype experiments, fuzzy multi-model switching is compared with direct switching and multi-model switching, and the switching effect of the algorithm is verified.

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New progresses in autonomous control technology for UAV with manipulator

DUAN,

WANG,

HUO

et al. 2024

Sci. Sin.-Tech.

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Hybrid Force/Position Control for Switchable Unmanned Aerial Manipulator Between Free Flight and Contact Operation

Cited by 3 publications

References 45 publications

Practical Prescribed Tracking Control of n-DOF Robotic Manipulator with Uncertainties via Friction Compensation Approach

Practical Prescribed Tracking Control of n-DOF Robotic Manipulator with Uncertainties via Friction Compensation Approach

Research on force/position switching control of servo actuator for hydraulically driven joint robot

New progresses in autonomous control technology for UAV with manipulator

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