In this work, we show how the interactive behavior of an aerial robot can be modeled and controlled effectively and elegantly in the port-Hamiltonian framework. We present an observer-based wrench/impedance controller for a fullyactuated hexarotor. The analysis and control are performed in a geometrically consistent manner on the configuration manifold of the special Euclidean group SE(3) such that the UAV's nonlinear geometric structure is exploited. The controller uses a wrench observer to estimate the interaction wrench without the use of a force/torque sensor. Moreover, the concept of energy tanks is used to guarantee the system's overall contact stability to arbitrary passive environments. The reliability and robustness of the proposed approach is validated through simulation and experiment.

In this work, we approach the control problem of fully-actuated UAVs in a geometric port-Hamiltonian framework. The UAV is modeled as a floating rigid body on the special Euclidean group SE(3). A unified near-hovering motion and impedance controller is derived by the energy-balancing passivity-based control technique. A detailed analysis of the closed-loop system's behavior is presented for both the freeflight stability and contact stability of the UAV. The robustness of the control system to uncertainties is validated by several experiments, in which the UAV is controlled near its actuator limits. The experiments show the ability of the UAV to hover at its maximum allowed roll angle and apply its maximum allowed normal force to a surface, without the input saturation destabilizing the system.

In the last decade, the aerial robotics community has witnessed an increased interest in fully actuated multirotor unmanned aerial vehicles (UAVs) that have more capabilities than conventional underactuated multirotors. This article collects the different UAV designs having fully actuated aerodynamic wrench generation proposed in the literature to date. The work includes a systematic derivation of the control-allocation matrix for all of the concepts as well as a discussion of the different quantitative criteria used for optimizing UAV designs. Conventional Multirotor UAVsUAVs have seen great growth in popularity. They have facilitated cost-effective engineering solutions in many civilian applications by enabling various sensors to be deployed in the air. Multirotor UAVs have been widely used due to their unique qualities, such as vertical takeoff and landing, hovering, and mechanical simplicity. Conventional multirotor UAV designs, including the quadrotor and hexarotor, are optimized for maximum flight time. All such UAV rotors have parallel directions to collectively counteract gravity. Consequently, conventional multirotor UAVs have underactuated dynamics due to the coupling between the horizontal translational and rotational dynamics.

The port-Hamiltonian (pH) theory for distributed parameter systems has developed greatly in the past two decades. The theory has been successfully extended from finite-dimensional to infinite-dimensional systems through a lot of research efforts. This article collects the different research studies carried out for distributed pH systems. We classify over a hundred and fifty studies based on different research focuses ranging from modeling, discretization, control and theoretical foundations. This literature review highlights the wide applicability of the pH systems theory to complex systems with multi-physical domains using the same tools and language. We also supplement this article with a bibliographical database including all papers reviewed in this paper classified in their respective groups.

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