Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve ...Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.展开更多
This work reports on fluid flow in a fluid-saturated porous medium, accounting for the boundary and inertial effects in the momentum equation. The flow is simulated by Brinkman-Forchheimer-extended Darcy formulation ...This work reports on fluid flow in a fluid-saturated porous medium, accounting for the boundary and inertial effects in the momentum equation. The flow is simulated by Brinkman-Forchheimer-extended Darcy formulation （DFB）, using MAC （Marker And Cell） and Chorin pressure iteration method. The method is validated by comparison with analytic results. The effect of Reynolds number, Darcy number, porosity and viscosity ratio on velocity is investigated. As a result, it is found that Darcy number has a decisive influence on pressure as well as velocity, and the effect of viscosity ratio on velocity is very strong given the Darcy number. Additional key findings include unreasonable choice of effective viscosity can involve loss of important physical information.展开更多
基金support partially by the Pre-research Task of State Key Laboratory of Robotics and Systems (HIT) (Grant No. SKLRS202402B)the National Natural Science Foundation of China (Grant No. 62273122)the Heilongjiang Natural Science Foundation (Grant No. YQ2023F009)。
文摘Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.
基金sponsored by Institute of Crustal Dynamics (Grant Nos. ZDJ2007-06 and ZDJ2008-08)National 973 Project (2006CB705802)
文摘This work reports on fluid flow in a fluid-saturated porous medium, accounting for the boundary and inertial effects in the momentum equation. The flow is simulated by Brinkman-Forchheimer-extended Darcy formulation （DFB）, using MAC （Marker And Cell） and Chorin pressure iteration method. The method is validated by comparison with analytic results. The effect of Reynolds number, Darcy number, porosity and viscosity ratio on velocity is investigated. As a result, it is found that Darcy number has a decisive influence on pressure as well as velocity, and the effect of viscosity ratio on velocity is very strong given the Darcy number. Additional key findings include unreasonable choice of effective viscosity can involve loss of important physical information.
