In order to properly control the physical inter- active behavior of a flying vehicle, the information about the forces acting on the robot is very useful. Force/torque sensors can be exploited for measuring such information but their use increases the cost of the equipment, the weight to be carried by the robot and, consequently, it reduces the flying autonomy. Furthermore, a sensor can measure only the force/torque applied to the point it is mounted in. In order to overcome these limitations, in this paper we introduce a Lyapunov based nonlinear observer for estimating the external forces applied to a quadrotor. Furthermore, we show how to exploit the estimated force for shaping the interactive behavior of the quadrotor using Interconnection and Damping Assignment Passivity Based Controller (IDA-PBC). The results of the paper are validated by means of simulations.

A nonlinear force observer for quadrotors and application to physical interactive tasks / Yuksel, Burak; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio. - ELETTRONICO. - (2014), pp. 433-440. (Intervento presentato al convegno 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 tenutosi a Besancon, Francia nel 8-11/07/2014) [10.1109/AIM.2014.6878116].

A nonlinear force observer for quadrotors and application to physical interactive tasks

SECCHI, Cristian;
2014

Abstract

In order to properly control the physical inter- active behavior of a flying vehicle, the information about the forces acting on the robot is very useful. Force/torque sensors can be exploited for measuring such information but their use increases the cost of the equipment, the weight to be carried by the robot and, consequently, it reduces the flying autonomy. Furthermore, a sensor can measure only the force/torque applied to the point it is mounted in. In order to overcome these limitations, in this paper we introduce a Lyapunov based nonlinear observer for estimating the external forces applied to a quadrotor. Furthermore, we show how to exploit the estimated force for shaping the interactive behavior of the quadrotor using Interconnection and Damping Assignment Passivity Based Controller (IDA-PBC). The results of the paper are validated by means of simulations.
2014
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Besancon, Francia
8-11/07/2014
433
440
Yuksel, Burak; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio
A nonlinear force observer for quadrotors and application to physical interactive tasks / Yuksel, Burak; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio. - ELETTRONICO. - (2014), pp. 433-440. (Intervento presentato al convegno 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 tenutosi a Besancon, Francia nel 8-11/07/2014) [10.1109/AIM.2014.6878116].
File in questo prodotto:
Non ci sono file associati a questo prodotto.
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: https://hdl.handle.net/11380/1061747
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 67
  • ???jsp.display-item.citation.isi??? 54
social impact