Adaptive Sliding-Mode Disturbance Observer-Based Finite-Time Control for Unmanned Aerial Manipulator With Prescribed Performance.

In this article, an adaptive sliding-mode disturbance observer (ASMDO)-based finite-time control scheme with prescribed performance is proposed for an unmanned aerial manipulator (UAM) under uncertainties and external disturbances. First, to take into account the dynamic characteristics of the UAM, a dynamic model of the UAM with state-dependent uncertainties and external disturbances is introduced. Then, note that a priori bounded uncertainty may impose a priori constraint on the system state before obtaining closed-loop stability.

Gliding grasping analysis and hybrid force/position control for unmanned aerial manipulator system.

In this paper, considering the control difficulty of the unmanned aerial manipulator (UAM) interacting with environments, a force analysis during gliding grasping and a hybrid force/position control strategy are proposed for the UAM to enhance control performances during dynamic gliding grasping respectively. First, the instantaneous contact force during the gliding grasping is analyzed by the impulse and momentum theorem, and some factors affecting grasping performance are considered to complete an analysis of grasping force including the irregular shape of the object, the object scrolling, and geometrically asymmetric grasping. Meanwhile, the mass of the grasping object and the inertia tensor are considered unknown bounded items.