Nonlinear Disturbance Observer Based Adaptive Backstepping Control for Trajectory Tracking of Aerial Parallel Manipulator

摘要

Aerial manipulator is a kind of robot with broad application prospects, which is suitable for high altitude operation and other dangerous application scenarios. This paper presents a trajectory tracking control algorithm for the aerial parallel manipulator based on Stewart platform. By modeling the overall dynamics of the aerial parallel manipulator, the expression of the influence of Stewart platform is given, and it is proved that this type of influence can be combined with the unmodeled error and external disturbance into the comprehensive disturbance of the flight platform. The flight platform trajectory tracking control is carried out by using the backstepping method, and the nonlinear disturbance observer is used for disturbance estimation and compensation in the control output. Numerical experiments show that the proposed control method can realize the trajectory tracking control of the flight platform of the aerial parallel manipulator.