In recent years, aerial manipulators consist of unmanned aerial vehicles and robotic manipulators have been widely utilized in aerial operations. The complex dynamic coupling effects between unmanned aerial vehicles and robotic manipulators will bring some issues to the motion control. Therefore, the article proposes a new control scheme for aerial manipulators. The proposed method includes three elements, that is, time-delay estimation, backstepping design, and nonsingular terminal sliding mode. The time-delay estimation technique is adopted to estimate the complex system dynamics and to bring a model-free feature of the system. With the backstepping design, the proposed control strategy can ensure the asymptotic stability of the closed-loop system by recursive procedure. To deal with the unmodelling dynamics and disturbances, and to assure finite-time convergence of the system states, the nonsingular terminal sliding mode is adopted. By combining three elements, the tracking performance of aerial manipulators is improved under unmodelling dynamics and disturbances. Global stability of closed-loop control system is analyzed using Lyapunov stability theory. Finally, comparative simulations are conducted, and the results show that the proposed controller has better performance than a conventional proportional–derivative controller or a nonsingular terminal sliding mode controller.

中文翻译：

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一种实用的空中机械臂延时控制方案

近年来，空中机械手由无人机组成，机器人机械手在空中作业中得到了广泛的应用。无人机与机械手之间复杂的动态耦合效应会给运动控制带来一些问题。因此，本文提出了一种新的空中机械手控制方案。所提出的方法包括三个要素，即时延估计、反步设计和非奇异终端滑模。采用时滞估计技术来估计复杂的系统动力学，并带来系统的无模型特征。通过反步设计，所提出的控制策略可以通过递归过程保证闭环系统的渐近稳定性。为了处理未建模的动力学和干扰，为保证系统状态的有限时间收敛，采用非奇异终端滑模。通过结合三个要素，在未建模动力学和扰动下提高了空中机械手的跟踪性能。利用李雅普诺夫稳定性理论分析了闭环控制系统的全局稳定性。最后，进行了比较仿真，结果表明所提出的控制器比传统的比例微分控制器或非奇异终端滑模控制器具有更好的性能。利用李雅普诺夫稳定性理论分析了闭环控制系统的全局稳定性。最后，进行了比较仿真，结果表明所提出的控制器比传统的比例微分控制器或非奇异终端滑模控制器具有更好的性能。利用李雅普诺夫稳定性理论分析了闭环控制系统的全局稳定性。最后，进行了比较仿真，结果表明所提出的控制器比传统的比例微分控制器或非奇异终端滑模控制器具有更好的性能。