论文标题
使用模型预测控制打开铰链门的空中操纵
Aerial Manipulation using Model Predictive Control for Opening a Hinged Door
论文作者
论文摘要
现有的与空中机器人的环境相互作用的研究集中在与静态环境的相互作用上。但是，为了充分探索空中操纵的概念，还应考虑与移动结构的相互作用。在本文中，提出了一个基于多旋风的空中操纵器，开了一个日常生活结构，即铰链门。为了解决结构的约束运动并避免在操作过程中碰撞，将模型预测控制（MPC）应用于空中操纵器和涉及状态约束的门之间的衍生耦合系统动力学。通过实现差异动态编程（DDP）的约束版本，MPC可以实时为基于干扰观察者（DOB）基于干扰观察者（DOB）的稳健控制器生成位置设定点，这通过我们的实验结果验证了。
Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial manipulation, interaction with moving structures should also be considered. In this paper, a multirotor-based aerial manipulator opening a daily-life moving structure, a hinged door, is presented. In order to address the constrained motion of the structure and to avoid collisions during operation, model predictive control (MPC) is applied to the derived coupled system dynamics between the aerial manipulator and the door involving state constraints. By implementing a constrained version of differential dynamic programming (DDP), MPC can generate position setpoints to the disturbance observer (DOB)-based robust controller in real-time, which is validated by our experimental results.
