Propeller-Based Actuation Robust Control for a Mobile Rope-Towed Flying Robot
Zhenyu Huang, Yaonan Wang, Haoran Tan, Zhongsen Wang, Jiacheng Liang, Y. B. Yu · 2024
To address the operational requirements of large and complex components within extensive environments, a working mode of a mobile rope-towed flying robot is presented. The mobile rope-towed flying robot comprises a rail, transfer mechanism, drone platform, robotic manipulator and multiple ropes. During operation, the transfer mechanism moves uniformly along a desired trajectory, while the robotic manipulator performs the corresponding task. The drone platform relies propeller to generate forces and torques to compensate the disturbances. Additionally, a propeller-based actuation robust control method (PBARC) is proposed to mitigate the disturbances experienced by the mobile rope-towed flying robot due to the motion of the robotic manipulator and rope tension, thereby enhancing the stability of the robot during operation. Finally, simulation experiments are conducted using measurement tasks as examples to validate the effectiveness of the proposed controller method.