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




Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction - Download this document for free, or read online. Document in PDF available to download.

1 MPI - Max Planck Institute for Biological Cybernetics 2 UNIMORE - Università degli Studi di Modena e Reggio Emilia Reggio Emilia 3 LAAS-RIS - Équipe Robotique et InteractionS LAAS - Laboratoire d-analyse et d-architecture des systèmes Toulouse

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.





Author: Burak Yüksel - Cristian Secchi - Heinrich H Bülthoff - Antonio Franchi -

Source: https://hal.archives-ouvertes.fr/



DOWNLOAD PDF




Related documents