Journal of Guangxi Normal University(Natural Science Edition) ›› 2010, Vol. 28 ›› Issue (3): 198-203.

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Control Methodology for Rotary Wing Flying Robots Based on Study of Hand Tele-operation

YI Jia-rui1,2, WU Cheng-dong1,3, ZHAO Xin-gang2   

  1. 1. College of Information and Control Engineering,Shenyang Jianzhu University,Shenyang Liaoning 110168,China;
    2. The State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences, Shenyang Liaoning 110016,China;
    3. School of Information Science and Engineering,Northeastern University, Shenyang Liaoning 110004,China
  • Received:2010-05-10 Online:2010-09-20 Published:2023-02-06

Abstract: Conventionally,control methods on rotary wing flyingrobot need to establish its body dynamics model,and then design the controller.However,due tothe strong nonlinearity characteristics of rotary wing flying robot system,itis always difficult to get the exact model which increases the hardness of controller design.This research focuses on the process of people's tele-operation behavior,analyze the manipulating process of skilled and unskilledmanipulator,and establishes controller respectively that can scale the proficiency of the manipulators.Analysis and comparison of the two controllers were carried out,then a single-channel PD control system for rotary wing flying robot with skilled manipulator characteristics was established.Simulation results show that the PD controller can realize the posture stability control in three kinds of state of rotary wing flying robot including hovering,forward flight,and lateral flight.

Key words: rotary wing flying robot, tele-operation, study of hand tele-operation, PD control

CLC Number: 

  • TP242
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