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Adaptive Multimodal Servoing Control for Unmanned Aerial Manipulator Perching 认领 引用
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作者 Yitian Zhang Bo Cai +1 位作者 Dongyang Li Ye Li 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第3期731-733,共3页
Dear Editor,This letter presents an adaptive control framework for unmanned aerial manipulator(UAM)perching,integrating image segmentationbased tracking with multimodal nonlinear model predictive control(NMPC).A hybri... Dear Editor,This letter presents an adaptive control framework for unmanned aerial manipulator(UAM)perching,integrating image segmentationbased tracking with multimodal nonlinear model predictive control(NMPC).A hybrid control strategy with depth derivative prediction and pitch feedforward compensation effectively resolves control parameter conflicts between pole grasping and suction-based perching on planar surfaces.An autonomous switching mechanism,leveraging detection confidence,spatial fusion,and pixel-level feature enhancement,ensures accurate target pose estimation under dynamic occlusions. 展开更多
关键词 hybrid control strategy adaptive control framework image segmentationbased tracking depth derivative prediction unmanned aerial manipulator uam perchingintegrating multimodal nonlinear model predictive control nmpc pole grasping pitch feedforward compensation
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