Attitude Control of UAV with Manipulator Using Adaptive PID
Attitude Control of UAV with Manipulator Using Adaptive PID
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DOI：
10.1109/anzcc56036.2022.9966861
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发表时间：
2022-11
期刊：
影响因子：
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通讯作者：
Kazuya Uchida;K. Uchiyama;Kai Masuda
中科院分区：
文献类型：
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作者：
Kazuya Uchida;K. Uchiyama;Kai Masuda
本文介绍了无人机（UAV）的姿态控制装备了一个机械手称为无人机机械手（UAMs）。装备有机械手的无人机被期望代表人类工作并进行观察和调查，但是当在使命中使用机械手时，运动反应对控制性能的影响不能被忽略。因此，控制系统必须被设计为操作UAM，以便可以减少或容忍这些影响。自适应PID控制器，它可以处理参数变化，应用于UAM在这项研究中。通过数值仿真验证了该控制器的有效性。
This paper describes the attitude control of Unmanned Aerial Vehicles (UAVs) equipped with a manipulator referred to as Unmanned Aerial Manipulators (UAMs). UAVs equipped with manipulators are expected to work on behalf of humans and to observe and investigate, but the effect of the motion reaction on control performance cannot be ignored when using the manipulator in a mission. Therefore, the control system must be designed to operate UAM so that these effects can be reduced or tolerated. The adaptive PID controller, which can deal with the parameter variations, is applied to the UAM in this study. We confirm the effectiveness of the controller through numerical simulation.