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Hierarchy-Based Adaptive Generalized Predictive Control for Aerial Grasping of a Quadrotor Manipulator

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Abstract

In this paper, an adaptive generalized predictive control (GPC) based on hierarchical control strategy is designed for a quadrotor with a robotic arm. For this nonlinear and coupled system, a two-layer control structure is adopted to achieve more precise trajectory tracking and keep the tracking performance after aerial grasping. The inner-layer controller is a proportional-derivative (PD) controller. The outer-layer subsystem is linearized by input-output linearization first and an adaptive generalized predictive controller is applied. The effectiveness of this approach is verified through the simulation using MATLAB/Simulink. A PD controller with feedforward control input is applied on such a system for a comparative study. Simulation results show that a better tracking performance can be achieved by the proposed strategy.

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Abbreviations

b 1, b 2, b 3 :

Axes of the body frame

C g :

Center of mass of the robotic arm

C q :

Center of mass of the quadrotor

f :

Total thrust along b1 axis

g :

Acceleration of gravity

J g :

Moment of inertia of the robotic arm

J q :

Moment of inertia of the quadrotor

L g :

Length between Cq and Cg

m g :

Mass of the robotic arm

m obj :

Mass of the payload

m q :

Mass of the quadrotor

r q :

Displacement of the quadrotor with respect to earth coordinates

r g :

Displacement of the robotic arm with respect to earth coordinates

x e, z e :

Axes of the earth frame

x q, z q :

Coordinates of the center of mass of the quadrotor in earth frame

x des :

Reference for xq

z des :

Reference for zq

β :

Angle between the robotic arm and b1 axis

β des :

Reference for β

θ :

Angel between b1 axis and xe axis, rad

τ :

Actuator torque applied on robotic arm along b2 axis

τ q :

Moment along b2 axis generated by different thrusts

ω q :

Angular velocity of the quadrotor

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Authors and Affiliations

  1. School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, 200240, China

    Xueqian Song  (宋雪倩) & Shiqiang Hu  (胡士强)

Authors
  1. Xueqian Song  (宋雪倩)
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  2. Shiqiang Hu  (胡士强)
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Additional information

Foundation item: the National Natural Science Foundation of China (No. 61773262) and the China Aviation Science Foundation (No. 20142057006)

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Song, X., Hu, S. Hierarchy-Based Adaptive Generalized Predictive Control for Aerial Grasping of a Quadrotor Manipulator. J. Shanghai Jiaotong Univ. (Sci.) 24, 451–458 (2019). https://doi.org/10.1007/s12204-019-2081-7

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  • DOI: https://doi.org/10.1007/s12204-019-2081-7

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