Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction
Contributo in Atti di convegno
Data di Pubblicazione:
2014
Citazione:
Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction / Yuksel, Burak; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio. - ELETTRONICO. - (2014), pp. 6258-6265. ( 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 Hong Kong, Cina 31/05/2014 - 07/06/2014) [10.1109/ICRA.2014.6907782].
Abstract:
In this paper we propose a controller, based on an extension of
Interconnection and Damping Assignment-Passivity Based Control
(IDA-PBC) framework, for shaping the whole physical characteristics of
a quadrotor and for obtaining a
desired interactive behavior between the robot and the environment. In
the control design, we shape the total energy (kinetic and potential)
of the undamped original system by first excluding external effects. In
this way we can assign a new dynamics to the system. Then we apply
damping injection to the new system for achieving a desired damped
behavior. Then we show how to connect a high-level control input to
such system by taking advantage of the new desired physics. We support
the theory with extensive simulations by changing the overall behavior
of the UAV for different desired dynamics, and show the advantage of
this method for sliding on a surface tasks, such as ceiling painting, cleaning or surface inspection.
Tipologia CRIS:
Relazione in Atti di Convegno
Keywords:
Aerial Robotics; Physical Interaction
Elenco autori:
Yuksel, Burak; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio
Link alla scheda completa:
Titolo del libro:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)