Compliant Contact Force Control for Aerial Manipulator of Adaptive Neural Network-Based Robust Control.

Aerial manipulators expand the application scenarios of manipulators into the air. To complete various operations, the contact force between the aerial manipulator and the target must be precisely controlled. In this study, we first established the mathematical models of the multirotor and the manipulator separately. Their mutual influence is regarded as each other's disturbance, and the overall linkage mechanism is established through analysis. Then, a robust sliding mode control strategy is developed for accurate trajectory tracking. The controller is derived from Lyapunov theory, which can ensure the stability of the closed-loop system. To compensate for the effect of system uncertainty, an adaptive radial basis function neural network is devised to approximate the part of the controller containing the model information. In addition, an impedance controller is designed to convert force control into position control to make the manipulator contact with the target compliantly. Finally, the simulation and experimental results indicate that the proposed method can guarantee the accuracy of the contact force and has good robustness.

Robust Control Based on Adaptive Neural Network for the Process of Steady Formation of Continuous Contact Force in Unmanned Aerial Manipulator.

Contact force control for Unmanned Aerial Manipulators (UAMs) is a challenging issue today. This paper designs a new method to stabilize the UAM system during the formation of contact force with the target. Firstly, the dynamic model of the contact process between the UAM and the target is derived. Then, a non-singular global fast terminal sliding mode controller (NGFTSMC) is proposed to guarantee that the contact process is completed within a finite time. Moreover, to compensate for system uncertainties and external disturbances, the equivalent part of the controller is estimated by an adaptive radial basis function neural network (RBFNN). Finally, the Lyapunov theory is applied to validate the global stability of the closed-loop system and derive the adaptive law for the neural network weight matrix online updating. Simulation and experimental results demonstrate that the proposed method can stably form a continuous contact force and reduce the chattering with good robustness.

IACRA: Lifetime Optimization by Invulnerability-Aware Clustering Routing Algorithm Using Game-Theoretic Approach for Wsns.

Energy limitation is one of the intrinsic shortcomings of wireless sensor networks (WSNs), although it has been widely applied in disaster response, battlefield surveillance, wildfire monitoring, radioactivity detection, etc. Due to the large amount of energy consumed for data transmission, how to prolong the network lifespan by designing various hierarchical routing protocols has attracted more and more attention. As a result, numerous achievements have emerged successively. However, these presented mechanisms can rarely guarantee the satisfactory quality of service (QoS), while lowering the energy cost level of WSNs. Meanwhile, invulnerability is undoubtedly an excellent quantitative index to assess QoS. Therefore, it is critical to develop a practical routing method to optimize network lifetime by considering both invulnerability and energy efficiency. Game theory is suitable for such a critical problem as it can be used in node or at network level to encourage the decision-making capabilities of WSNs. In this paper, a novel invulnerability-aware clustering routing algorithm (IACRA) using game-theoretic method is proposed to solve the predicament. The core features of the addressed game-theory-based routing protocol include integral invulnerability awareness, optimal cluster head selection in hierarchical routing, distance-aware cluster head discovery, and cluster rotation update mechanism for lifetime optimization. Particularly, the integral network invulnerability based on weighted fusion is constructed for further defining the profit model by combining the invulnerability indicators used to evaluate the local and whole network. Meanwhile, the optimal probability function of every node elected as CH in per cluster is established through the game between invulnerability and node energy consumption. In addition, the cluster update mechanism base on cluster rotation is proposed to avoid the rapid death of nodes with large energy consumption for maximizing network lifetime. The experimental results indicated a significant improvement in energy balance as well as in invulnerability compared with the other three kinds of well-known clustering routing protocols including GEEC (Game-theory-based energy efficient clustering routing protocol), HGTD (Hybrid, game-theory-based distributed clustering protocol), and EEGC (Efficient energy-aware and game-theory-based clustering protocol). Concretely, at the 400 communication rounds, the invulnerability of IACRA was higher than that of GEEC, HGTD, and EEGC by 77.56%, 29.45% and 15.90%, respectively, and the average residual energy of IACRA was 8.61%, 18.35% and 6.36% larger than that of GEEC, HGTD, and EEGC, respectively. Based on these results, the proposed protocol can be utilized to increase the capability of WSNs against deterioration of QoS and energy constraints.