面向抓取作业的旋翼飞行机械臂控制系统研究

旋翼无人机具有灵活机动、定点悬停和垂直起降等优势，在航拍、农业植保、电力巡检等领域中发挥着至关重要的作用。在旋翼无人机上加装多自由机械臂的旋翼飞行机械臂系统，更是具备了空中抓取、接触式空中作业等能力，实现了从被动观察到主动干预的转变，极大地扩展了旋翼无人机的应用场景。然而外部环境、内部机械臂等干扰都会极大地影响飞行机械臂系统的控制精度，因而本文设计了自适应反步控制策略以及分数阶终端滑模控制策略，实现旋翼飞行机械臂系统的高精度稳定控制，本文的主要内容如下：
（1）根据 D-H 准则、牛顿-欧拉方程和拉格朗日-欧拉方程等方法对旋翼飞行机械臂系统进行简化推导，研究其内部结构和工作机理，建立无人机、机械臂以及旋翼飞行机械臂的运动学和动力学模型，分析系统的运动和受力情况，深入理解了其行为特征和性能表现。
（2）采用了分离式控制的策略，将系统分解为外环位置控制和内环姿态控制两个部分。内环控制结合自适应法和反步法，减少抓取过程中质量突变对系统的影响。同时为了应对机械臂运动导致的力矩干扰、质心偏移干扰以及外部环境扰动，还设计了一种改进的超螺旋扩展状态观测器，并通过仿真和实验验证了控制算法的有效性和系统稳定性。
（3）采用集中式控制策略设计控制器，以应对机械臂与无人机动力学耦合及外部环境干扰对系统稳定性的影响，控制器由分数阶滑模面、快速终端滑模面、自适应律和基于 RBF 神经网络的干扰估计器等组成，以确保系统在动态不确定性和外部干扰下实现精准操纵任务，并通过 Lyapunov理论和实物飞行实验证明了系统的稳定性。

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