接触検査のための劣駆動空中マニピュレータのロバスト滑りモード・アドミッタンス制御
Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
劣駆動ヘキサロータに1自由度マニピュレータを搭載し、接触検査時の力制御と軌道追従を両立するロバスト制御フレームワークを提案。滑りモード制御とアドミッタンス制御を統合し、シミュレーションでPIDより優れた性能と最大20Nの安定した力発揮を確認した。
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著者: Tareq Aziz Alqutami, Yvan Petillot, Matthew W. Dunnigan, Mustafa Suphi Erden
分類: cs.RO
原文アブストラクト
Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting disturbances. Underactuated aerial manipulators present control challenges due to the dynamic coupling between vehicle attitude and force generation. This paper proposes a robust control framework for an underactuated hexarotor equipped with a 1-DoF manipulator to perform sustained contact inspection. The architecture integrates integral-augmented Sliding Mode Control (SMC) for trajectory tracking with an admittance control law for force regulation. The contact force is mapped to a feedforward attitude term, while the 1-DoF arm actively compensates for the tilt to maintain surface alignment. Software-in-the-loop simulations demonstrate that the SMC-based approach achieves superior tracking and coupling rejection compared to traditional PID. Furthermore, the interaction strategy achieved precise force regulation with an RMSE of 0.12N and was able to stably exert up to 20N force, confirming the system's efficacy for stable, reliable contact-based inspection.
