A novel aerial manipulator system compensation control based on ADRC and backstepping

Abstract This paper proposes a fully-actuated control method for a novel aerial manipulation system (AMS). A customized carbon frame structure supports the servo actuators, on which eight propellers group into pairs located. We present kinematics and dynamics modeling of the AMS based on Craig param...

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Autores principales:	Le Ma, Yiming Yan, Zhiwei Li, Jie Liu
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/89e77f5606f04844a3b0dd3ae66af170
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spelling	oai:doaj.org-article:89e77f5606f04844a3b0dd3ae66af1702021-11-21T12:16:47ZA novel aerial manipulator system compensation control based on ADRC and backstepping10.1038/s41598-021-01628-12045-2322https://doaj.org/article/89e77f5606f04844a3b0dd3ae66af1702021-11-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-01628-1https://doaj.org/toc/2045-2322Abstract This paper proposes a fully-actuated control method for a novel aerial manipulation system (AMS). A customized carbon frame structure supports the servo actuators, on which eight propellers group into pairs located. We present kinematics and dynamics modeling of the AMS based on Craig parameter method and recursive Newton–Euler equation, respectively. Then, an Active disturbance rejection control (ADRC)—Backstepping—Compensation controller is designed to control the exact position and orientation of the manipulator in the Cartesian space. Finally, the performance of the system is demonstrated through simulations and virtual experiments.Le MaYiming YanZhiwei LiJie LiuNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-15 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Le Ma Yiming Yan Zhiwei Li Jie Liu A novel aerial manipulator system compensation control based on ADRC and backstepping
description	Abstract This paper proposes a fully-actuated control method for a novel aerial manipulation system (AMS). A customized carbon frame structure supports the servo actuators, on which eight propellers group into pairs located. We present kinematics and dynamics modeling of the AMS based on Craig parameter method and recursive Newton–Euler equation, respectively. Then, an Active disturbance rejection control (ADRC)—Backstepping—Compensation controller is designed to control the exact position and orientation of the manipulator in the Cartesian space. Finally, the performance of the system is demonstrated through simulations and virtual experiments.
format	article
author	Le Ma Yiming Yan Zhiwei Li Jie Liu
author_facet	Le Ma Yiming Yan Zhiwei Li Jie Liu
author_sort	Le Ma
title	A novel aerial manipulator system compensation control based on ADRC and backstepping
title_short	A novel aerial manipulator system compensation control based on ADRC and backstepping
title_full	A novel aerial manipulator system compensation control based on ADRC and backstepping
title_fullStr	A novel aerial manipulator system compensation control based on ADRC and backstepping
title_full_unstemmed	A novel aerial manipulator system compensation control based on ADRC and backstepping
title_sort	novel aerial manipulator system compensation control based on adrc and backstepping
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/89e77f5606f04844a3b0dd3ae66af170
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A novel aerial manipulator system compensation control based on ADRC and backstepping

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