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.
Control of Aerial Robots: Hybrid Force and Position Feedback for a Ducted Fan / L. Marconi; R. Naldi. - In: IEEE CONTROL SYSTEMS. - ISSN 1066-033X. - STAMPA. - 32:4(2012), pp. 43-65. [10.1109/MCS.2012.2194841]
Control of Aerial Robots: Hybrid Force and Position Feedback for a Ducted Fan
MARCONI, LORENZO;NALDI, ROBERTO
2012
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.