面向水质采样的绳驱动空中机械臂抗干扰控制

绳驱动空中机械臂是一种由旋翼飞行器和多自由度机械臂构成的新型机器人系统。为了增强机械臂在排污管口水质采样时的关节空间控制性能，提出了一种结合快速连续非奇异终端滑模控制与线性扩张状态观测器的抗干扰控制策略。阐述了绳驱动空中机械臂的结构设计，建立计及关节柔性的动力学模型。利用线性扩张状态观测器来估计与补偿系统集总干扰，采用快速连续非奇异终端滑模面来保证系统状态量的有限时间收敛和抑制控制力矩的抖振。通过李雅普诺夫稳定性定理分析了所设计控制器的稳定性。最后，通过可视化仿真和地面汲水试验验证了所提控制器的有效性，结果表明，所提控制器的收敛速度、鲁棒性、准确性和抗干扰能力优于其他两种控制器，能有效抑制系统抖振，满足水质采样的作业需求。

Disturbance Rejection Control for Cable-driven Aerial Manipulator Applied on Water Samples

Cable-driven aerial manipulator is considered as a novel robotic system which contains an aircraft and a multiple degree-of-freedom manipulator. The cable-driven manipulator is a typical nonlinear system with extremely complex dynamics, which may lead to inadequate control performance when subjected to lumped disturbances. A disturbance rejection controller was proposed to enhance the tracking performance of the aerial manipulator in joint space faced water samples at drain mouth. This controller synthesized fast continuous nonsingular terminal sliding mode technique and linear extended state observer. Firstly, the structural design of the aerial manipulator was introduced and dynamics model considering flexible joint was established. Secondly, the linear extended state observer was used to estimate and compensate the lumped disturbances, and fast continuous nonsingular terminal sliding mode technique was applied to ensure the system states can converge in finite time and restrain the chattering of the control torques. Furthermore, stability of the controller was proved by Lyapunov theory. Lastly, the efficiency of the proposed controller was tested through visual simulation and ground water sampling experiments. The results showed that the proposed controller had faster converge, stronger robustness, higher precision, and greater performance of disturbance rejection compared with the other two controller, which can satisfy the needs of water samples.