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 >

Li Ding^1,*, Rui Ma¹, Zhengtian Wu², Rongzhi Qi¹, Wenrui Ruan¹

CMES-Computer Modeling in Engineering & Sciences, Vol.135, No.1, pp. 441-464, 2023, DOI:10.32604/cmes.2022.022642

Abstract This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode (FNTSM) manifold and a linear extended state observer (LESO). The developed control method applies an FNTSM to ensure the tracking performance’s control accuracy, and an LESO to estimate the system’s unmodeled dynamics and external disturbances. Additionally, an improved salp swarm algorithm (ISSA) is employed to parameter tune the suggested controller by integrating the salp swarm technique with a cloud model. This approach also uses a model-free scheme to reduce the complexity of controller design without relying on complex… More >