Elastic Vibration Suppression Control for Multilinked Aerial Robot Using Redundant Degrees-of-Freedom of Thrust Force
Elastic Vibration Suppression Control for Multilinked Aerial Robot Using Redundant Degrees-of-Freedom of Thrust Force
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DOI：
10.1109/lra.2022.3145060
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发表时间：
2022-04-01
影响因子：
5.2
通讯作者：
Inaba, Masayuki
中科院分区：
文献类型：
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作者：
Maki, Toshiya;Zhao, Moju;Inaba, Masayuki
铰接式空中机器人由多个通过关节连接的连杆单元组成，可以在飞行过程中改变其形状以执行高级空中操作。链接越多，表示处理较大对象的能力越强。随着连杆单元数量的增加，关键的挑战是链状结构的弹性振动，这会严重阻碍稳定飞行。因此，在我们以前的多链接模型中，链接的数量被限制为四个。然而，对于具有多于四个螺旋桨（四个连杆）的模型，控制输入（推力）中的冗余可以帮助解决弹性振动。因此，在本研究中，我们首先提出的弹性振动模型，由于扭转运动的链接杆的链状结构，基于多刚体动力学。随后，我们开发了一种控制方法与基于优化的控制增益设计，以抑制这种弹性振动通过冗余的控制输入。最后，我们证明了所提出的方法在振动抑制的可行性，通过实验与八连杆多连杆模型，这是很难飞与传统的控制方法。
Articulated aerial robots, which comprise multiple link units connected by joints, can change their shapes during flight to perform advanced aerial manipulation. The more links indicate a higher ability to handle larger objects. The critical challenge with the increase in the number of link units is the elastic vibration of the chain-like structure, which significantly hampers stable flight. Thus, the number of links is limited to four in most of our previous multilinked model. However, the redundancy in the control input (thrust force) for a model with more than four propellers (four links) can help to address the elastic vibration. Therefore, in this study, we first present the elastic vibration model due to the torsional motion of the link rod in chain-like structure, based on multi-rigid body dynamics. Subsequently, we develop a control method with an optimization-based control gain design to suppress this elastic vibration via the redundancy of a control input. Finally, we demonstrate the feasibility of the proposed methods in vibration suppression by experiments with an eight-link multilinked model that is difficult to fly with conventional control methods.