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.

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. ((Intervento presentato al convegno IEEE International Conference on Robotics and Automation (ICRA) tenutosi a Hong Kong, Cina nel 31/05/2014 - 07/06/2014.

Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction

SECCHI, Cristian;
2014

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.
IEEE International Conference on Robotics and Automation (ICRA)
Hong Kong, Cina
31/05/2014 - 07/06/2014
6258
6265
Yuksel, Burak; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio
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. ((Intervento presentato al convegno IEEE International Conference on Robotics and Automation (ICRA) tenutosi a Hong Kong, Cina nel 31/05/2014 - 07/06/2014.
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1061743
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 44
  • ???jsp.display-item.citation.isi??? 28
social impact