Problem
Research questions and friction points this paper is trying to address.
aerial manipulators
dynamic transitions
switched approach
state-dependent uncertainties
system dynamics
A Switched Adaptive Control Framework for Aerial Manipulators Under Dynamic Transitions
🤖 AI Summary
针对空中操作器在动态转换中的控制难题，提出一种无需预先了解系统耦合和状态依赖不确定性的自适应切换控制框架。
📝 Abstract
Aerial manipulators represent the forefront of aerial robotics. Although potentially capable of complex interaction tasks, controlling aerial manipulators throughout the dynamic transitions occurring during task execution presents significant challenges. Abrupt or discontinuous changes in system dynamics generated by the transitions suggest the use of a switched approach, yet the available aerial manipulation methods are not designed for coping with switched regimes. In addition, most available methods fall short in coping with the tight couplings between the aerial vehicle and the manipulator, as well as in coping with the state-dependent uncertainties arising from the difficulty in modeling such couplings. We propose a switched-based adaptive control framework for aerial manipulators not relying on a priori knowledge of the vehicle-manipulator couplings and of state-dependent uncertainties. To guarantee stable manipulation despite changes in system dynamics, the framework provides a class of switching signals characterizing those transition phases for which the system is guaranteed to remain stable. Comparative experiments further validate the effectiveness of the proposed switched-based framework over the state of the art.
Innovation
Methods, ideas, or system contributions that make the work stand out.
switched adaptive control
aerial manipulators
dynamic transitions
state-dependent uncertainties
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2024-09-11Conference on Robot LearningCitations: 6
