In this paper, a multi-propeller aerial robot with a passive manipulator for aerial manipulation is presented. In order to deal with the collision, external disturbance, changing inertia, and underactuated characteristic during the aerial manipulation, an adaptive trajectory linearization control (ATLC) scheme is presented to stabilize the multi-propeller aerial robot during the whole process. The ATLC controller is developed based on trajectory linearization control (TLC) method and model reference adaptive control (MRAC) method. The stability of the proposed system is analyzed by common Lyapunov function. Numerical simulations are carried out to compare the ATLC with TLC controller facing collision, external disturbance and changing inertia during an aerial manipulation. Experimental results prove that the developed robot can achieve aerial manipulation in the outdoor environment.

在本文中，提出了一种带有用于空中操纵的被动机械手的多螺旋桨空中机器人。针对空中操纵过程中的碰撞、外部扰动、惯性变化和欠驱动等特性，提出了一种自适应轨迹线性化控制（ATLC）方案，使多螺旋桨空中机器人在整个过程中保持稳定。ATLC控制器是基于轨迹线性化控制（TLC）方法和模型参考自适应控制（MRAC）方法开发的。所提出系统的稳定性通过常用的李雅普诺夫函数进行分析。进行数值模拟以比较 ATLC 与 TLC 控制器在空中操作过程中面临的碰撞、外部干扰和惯性变化。