空中作业机器人系统显式时间自适应跟踪控制
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刘宜成,马翔,严文
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Explicit-time adaptive tracking control for aerial manipulator systems
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Yicheng LIU,Xiang MA,Wen YAN
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| 表 1 飞行实验中不同控制方法的定量比较 |
| Tab.1 Quantitative comparison of different control methods in flight experiments |
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| 姿态角 | 控制方法 | ${T_{\text{c}}}/{\mathrm{s}}$ | RMSE/(°) | ${E_{\max }}$/(°) | | 滚转角 | FTSMC | 1.76 | 0.659 2 | 1.883 8 | | PTSMC | 1.58 | 0.644 5 | 1.956 4 | | ETAC | 1.36 | 0.479 5 | 1.486 8 | | 俯仰角 | FTSMC | 2.27 | 0.764 8 | 1.853 6 | | PTSMC | 1.85 | 0.523 1 | 1.611 8 | | ETAC | 1.80 | 0.397 2 | 1.096 4 | | 偏航角 | FTSMC | 1.89 | 0.512 9 | 1.847 7 | | PTSMC | 1.35 | 0.384 1 | 1.161 8 | | ETAC | 1.22 | 0.256 1 | 0.923 9 |
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