Li Ding, Yong Yao*, Rui Ma
CMES-Computer Modeling in Engineering & Sciences, Vol.135, No.2, pp. 1539-1558, 2023, DOI:10.32604/cmes.2022.023003
Abstract With the increasing demand for interactive aerial operations, the application of aerial manipulators is becoming
more promising. However, there are a few critical problems on how to improve the energetic efficiency and pose
control of the aerial manipulator for practical application. In this paper, a novel cable-driven aerial manipulator used
for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which
takes joint flexibility into account. To achieve high precision joint position tracking under lumped disturbances,
a newly controller, which consists of three parts: linear extended state observer, adaptive super-twisting strategy,
and fractional-order nonsingular terminal… More >
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