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

doi:10.1007/s12204-019-2081-7

Abstract

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

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

CLC Number:

SONG Xueqian* (宋雪倩), HU Shiqiang (胡士强). Hierarchy-Based Adaptive Generalized Predictive Control for Aerial Grasping of a Quadrotor Manipulator[J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(4): 451-458.

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