CRIS Current Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishIn this article we present control solutions for UAVs physically interacting with the environment. As aerial platform, we focus on a ducted-fan UAV, which lends itself to be used in contexts in which physical interaction is required. The addressed problem concerns the development of a hybrid force and position feedback, by which the UAV is required to slide along a vertical surface by tracking a vertical reference signal and by applying a desired contact force to the surface. The analysis developed in this work places emphasis on the intrinsic nonminimum-phase behavior characterizing the controlled system and presents state feedback strategies needed to handle the hybrid force and position control problem.
| Titolo: | Control of Aerial Robots: Hybrid Force and Position Feedback for a Ducted Fan | |
| Autore/i: | MARCONI, LORENZO; NALDI, ROBERTO | |
| Autore/i Unibo: | ||
| Anno: | 2012 | |
| Rivista: | ||
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/MCS.2012.2194841 | |
| Abstract: | In this article we present control solutions for UAVs physically interacting with the environment. As aerial platform, we focus on a ducted-fan UAV, which lends itself to be used in contexts in which physical interaction is required. The addressed problem concerns the development of a hybrid force and position feedback, by which the UAV is required to slide along a vertical surface by tracking a vertical reference signal and by applying a desired contact force to the surface. The analysis developed in this work places emphasis on the intrinsic nonminimum-phase behavior characterizing the controlled system and presents state feedback strategies needed to handle the hybrid force and position control problem. | |
| Data prodotto definitivo in UGOV: | 2014-10-12 | |
| Appare nelle tipologie: | 1.01 Articolo in rivista |
File in questo prodotto:
http://hdl.handle.net/11585/127196
Copyright © 2022