Image-Based Visual Impedance Force Control for Contact Aerial Manipulation

Xu, Mengxin; Hu, Anmin; Wang, Hesheng

doi:10.1109/tase.2022.3162207

Cited by 42 publications

(5 citation statements)

References 33 publications

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“…An impedance-based force controller was presented in [10] and [11] for a uUAM conducting peg-in-hole insertion tasks. In [12], an image-based visual impedance force controller was introduced. However, those controllers were designed under the assumption that the desired force is constant.…”

Section: Introductionmentioning

confidence: 99%

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Byun¹,

Kim²,

Kim³

et al. 2023

Preprint

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This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this end, we model the force exerted on the end-effector as the Kelvin-Voigt linear model and estimate its parameters by recursive least-squares estimator. Then, the gains of the disturbance-observer (DOB)-based motion/force controller are calculated based on the stability conditions considering both the model uncertainties in the dynamic equation and switching between the free and contact motions. To validate the proposed controller, we conducted the time-varying motion/force tracking experiments with different approach speeds and orientations of the surface. The results show that our controller enables the aerial manipulator to track the time-varying motion/force trajectories.

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Section: Introductionmentioning

confidence: 99%

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Byun¹,

Kim²,

Kim³

et al. 2023

Preprint

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“…For the second step, numerous control algorithms have been used to reject disturbance widely including sliding mode control (SMC) [5], adaptive control [6], impedance control [7] and intelligent control [8]. However, the above methods are all integer-order, which is challenging to integrate the theory model with experimental result effectively compared with the fractional order (FO) calculus.…”

Section: Introductionmentioning

confidence: 99%

Robust fractional-order fast terminal sliding mode control of aerial manipulator derived from a mutable inertia parameters model

Zheng

Li²,

Bingkai³

et al. 2023

J. Phys.: Conf. Ser.

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The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode control (FOFTSMC) strategy based on mutable inertia parameters is proposed in this paper. First, the dynamics of aerial manipulator with consideration of the coupling disturbance is derived by utilizing mutable inertia parameters. Then, based on the dynamic model, a robust FOFTSMC algorithm is designed to make the system fly steadily under coupling disturbance. Furthermore, stability analysis is conducted to prove the convergence of tracking errors. Finally, comparative simulation results are given to show the validity and superiority of the proposed scheme.

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“…These switched systems could include sliding objects with non-constant friction [2]; pulling an electrical plug out of a socket [4]; and autonomous removal of a sensor mounted with adhesive [5]. In addition to this, sustained-contact is currently under research, with applications to aerial writing [13] and UAV-based cleaning [11], [14].…”

Section: Introductionmentioning

confidence: 99%

A Novel Disturbance Device for Aerial Manipulation Experiments

Marshall

Knowles

Yan

et al. 2023

2023 IEEE International Conference on Mechatronics (ICM)

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In the last decade, UAVs endowed with manipulators have increased in their ability to complete complex tasks such as manipulating doors and drawers. Very recent work also includes tasks with non-constant dynamics such as pushing a cart along a surface with a change in friction coefficient or pulling an electrical plug from a socket. These tasks are hard to design and compare controllers for because their dynamics are complex and they may not behave consistently. This paper proposes a tunable and repeatable mechanism for use in experiments that compare different controller designs. The proposed mechanism, called an overcentre mechanism, can provide a nonlinear resistive force and can be easily modified for different force magnitudes. Additionally, it can be quickly re-oriented to disturb altitude or position channels for vehicles with or without manipulators. This paper experimentally compares three traditional observer designs and a baseline controller in two different operating conditions.

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Image-Based Visual Impedance Force Control for Contact Aerial Manipulation

Cited by 42 publications

References 33 publications

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Robust fractional-order fast terminal sliding mode control of aerial manipulator derived from a mutable inertia parameters model

A Novel Disturbance Device for Aerial Manipulation Experiments

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