Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Ruggiero, Fabio; Cacace, Jonathan; Sadeghian, Hamid; Lippiello, Vincenzo

doi:10.1016/j.robot.2015.05.006

Cited by 57 publications

(24 citation statements)

References 50 publications

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“…̇=̇−̇+ (18) Where is a positive constant. Thanks to the error definitions (17) and (18), it is possible to define a candidate Lyapunov function to stabilize the altitude control system as follows:…”

Section: B Nonlinear Altitude Controllermentioning

confidence: 99%

“…Both problems have been preliminarily studied in the literature, for instance, [14] and [15] present a control scheme which takes into account the movement of the arm of aerial manipulators while [16] is focused on the controller of multirotors working close to ground surfaces. External wrench observers [17] have been used to estimate unknown forces and torques acting on the multirotor, and design controllers for the aerial robot [18]. These observers could be used to estimate these aerodynamic effects, although the when the multirotor approaches the surfaces there are large gradients in the generated forces, and wrench observers are not well suited for estimating fast varying forces.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Contact-Based Bridge Inspection Multirotors: Design, Modeling, and Control Considering the Ceiling Effect

Jimenez-Cano

Sanchez-Cuevas

Grau

et al. 2019

IEEE Robot. Autom. Lett.

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This paper presents the design, modelling and control of a multirotor for inspection of bridges with full contact. The paper analyzes the aerodynamic ceiling effect when the aerial robot approaches the bridge surface from below, including its aerodynamic characterization using Computational Fluid Dynamics (CFD). The proposed multirotor design takes the modelled aerodynamic effects into account, improving the performance of the aerial platform in terms of the stability and position accuracy during the inspection. Nonlinear attitude and position controllers to manage the aerodynamic effects are derived and tested. Last, outdoor experiments in a real bridge inspection task have been used to validate the system, as well as, the controller and the aerodynamic characterization. The experiments carried out also include a complete autonomous mission of the aerial platform during a structural assessment application.

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Section: B Nonlinear Altitude Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Contact-Based Bridge Inspection Multirotors: Design, Modeling, and Control Considering the Ceiling Effect

Jimenez-Cano

Sanchez-Cuevas

Grau

et al. 2019

IEEE Robot. Autom. Lett.

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“…Today it is possible to find quadrotors intended to interact with objects and also humans [23], [24] through impedance/admittance force control and adaptive approximations 3 [25], [26], [27], [28], [29], [30]. In fact they contemplate the quadcopter and the robot manipulator as if they were the same body with the well known robot arm-like mathematical coupled equations M (q)q + C(q)q + G(q) = τ or the Euler-Lagrange formulation [31], [32], [33], [34].…”

Section: Comparisonsmentioning

confidence: 99%

“…Italian team [12], [27], [32], [35], [36] and American researchers [37], [38], [13], [39], [40], [41]. Other interesting but independent works are (where the efforts of Spanish and French researchers are notable) [33], [11], [42], [43], [44], [45], [46], [47], [48], [49], [50].…”

Section: Comparisonsmentioning

confidence: 99%

Air-arm: A new kind of flying manipulator

Mendoza-Mendoza

Sepulveda-Cervantes²,

Aguilar-Ibáñez

et al. 2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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We introduce a new kind of aerial manipulator based on multirotors. This device exploits the rarely used yaw movement which characterizes these aircrafts in order to generate and transmit forces and displacements trough a serial-chain of rigid links and other drones, as if the whole system was a flying robot arm with UAVS as rotational joints. Also we provide comparisons with the existing technologies and a condensed review concerning them. Finally, this paper proposes many open problems in order to develop the final system. Due to the scientific and social impact of this new approach, we provide some application examples.

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“…In [19], the design of two nonlinear controllers to stabilize an aerial vehicle characterized with quaternions and their axis-angle depiction is studied. Also, [20] introduces a PBC for a vertical take-off and landing (VToL) vehicle. An estimator of unmodelled dynamics and external wrench acting on the UAV and based on the momentum of the system is used to compensate such disturbance effects.…”

Section: Introductionmentioning

confidence: 99%

Energy-Based Control and LMI-Based Control for a Quadrotor Transporting a Payload

et al. 2019

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This paper presents the control of a quadrotor with a cable-suspended payload. The proposed control structure is a hierarchical scheme consisting of an energy-based control (EBC) to stabilize the vehicle translational dynamics and to attenuate the payload oscillation, together with a nonlinear state feedback controller based on an linear matrix inequality (LMI) to control the quadrotor rotational dynamics. The payload swing control is based on an energy approach and the passivity properties of the system’s translational dynamics. The main advantage of the proposed EBC strategy is that it does not require excessive computations and complex partial differential equations (PDEs) for implementing the control algorithm. We present a new methodology for using an LMI to synthesize the controller gains for Lipschitz nonlinear systems with larger Lipschitz constants than other classical techniques based on LMIs. This theoretical approach is applied to the quadrotor rotational dynamics. Stability proofs based on the Lyapunov theory for the controller design are presented. The designed control scheme allows for the stabilization of the system in all its states for the three-dimensional case. Numerical simulations demonstrating the effectiveness of the controller are provided.

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Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Cited by 57 publications

References 50 publications

Contact-Based Bridge Inspection Multirotors: Design, Modeling, and Control Considering the Ceiling Effect

Contact-Based Bridge Inspection Multirotors: Design, Modeling, and Control Considering the Ceiling Effect

Air-arm: A new kind of flying manipulator

Energy-Based Control and LMI-Based Control for a Quadrotor Transporting a Payload

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