Journal of Shanghai Jiao Tong University (Science) ›› 2019, Vol. 24 ›› Issue (4): 451-458.doi: 10.1007/s12204-019-2081-7

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

SONG Xueqian* (宋雪倩), HU Shiqiang (胡士强)   

  1. (School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China)
  • 出版日期:2019-08-01 发布日期:2019-07-29
  • 通讯作者: SONG Xueqian* (宋雪倩) E-mail:songxueqian@alumni.sjtu.edu.cn

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

SONG Xueqian* (宋雪倩), HU Shiqiang (胡士强)   

  1. (School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China)
  • Online:2019-08-01 Published:2019-07-29
  • Contact: SONG Xueqian* (宋雪倩) E-mail:songxueqian@alumni.sjtu.edu.cn

摘要: 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.

关键词: unmanned aerial vehicle, robotic arm, predictive control, trajectory tracking

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.

Key words: unmanned aerial vehicle, robotic arm, predictive control, trajectory tracking

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