Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system
ISSN: 0143-991X
Article publication date: 31 May 2023
Issue publication date: 9 August 2023
Abstract
Purpose
This paper aims to tackle the problem for a fully actuated unmanned aerial vehicle (FUAV) to perform physical interaction tasks in the Global Positioning System-denied environments without expensive motion capture system (like VICON) under disturbances.
Design/methodology/approach
A tether-based positioning system consisting of a universal joint, a tether-actuated absolute position encoder and an attitude sensor is designed to provide reliable position feedback for the FUAV. To handle the disturbances, including the tension force caused by the taut tether, model uncertainties and other external disturbances such as aerodynamic disturbance, a hybrid disturbance observer (HDO) combining the position-based method and momentum-based technology with force sensor feedback is designed for the system. In addition, an HDO-based impedance controller is built to allow the FUAV interacting with the environment and meanwhile rejecting the disturbances.
Findings
Experimental validations of the proposed control algorithm are implemented on a real FUAV with the result of nice disturbance rejection capability and physical interaction performance.
Originality/value
A cheap alternative to indoor positioning system is proposed, with which the FUAV is able to interact with external environment and meanwhile reject the disturbances under the help of proposed hybrid disturbance observer and the impedance controller.
Keywords
Acknowledgements
Funding: This work was supported by the Beijing Postdoctoral Science Foundation (Grant No. Q6001013202201).
Citation
Jiao, R., Rong, Y., Dong, M. and Li, J. (2023), "Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system", Industrial Robot, Vol. 50 No. 5, pp. 740-752. https://doi.org/10.1108/IR-11-2022-0277
Publisher
:Emerald Publishing Limited
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