Controller Design of a New Quadrotor Manipulation System Based on Robust Internal-Loop Compensator

摘要

This paper introduces control design of an aerial manipulator which consists of 2-link manipulator attached to the bottom of a quad rotor. This new system presents a solution for the limitations found in the current quad rotor manipulation system. The proposed robot enables the end effector to achieve any arbitrary position and orientation, and thus it increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quad rotor and the object to be manipulated. To study the feasibility of the proposed system, a quad rotor with high enough payload to add the 2-link manipulator is designed and constructed. The system parameters are identified to be used in the simulation and controller design of the proposed system. System modeling are described briefly. The controller of the proposed system is designed based on Robust Internal-loop Compensator (RIC) and compared to Fuzzy Model Reference Learning Control (FMRLC) technique which was previously designed and tested for the proposed system. These controllers are tested in order to achieve system stability and trajectory tracking under the effect of picking/placing a payload as well as under the effect of changing the operating region. Simulation framework is implemented in MATLAB/SIMULINK environment. Simulation results verifies the effectiveness of the proposed control technique.