A comparison of control approaches for aerial manipulators handling physical impacts

J.T. Bartelds, Han Willem Wopereis, Stefano Stramigioli, Matteo Fumagalli

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    Abstract

    This paper presents and compares different control strategies for aerial manipulators to handle highly dynamic physical interaction with the environment. These control strategies are compared in simulation utilizing an ideal model developed using the bond graph representation. Simulation results are presented to demonstrate the effectiveness of and the differences between the proposed solutions.
    Original languageUndefined
    Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
    Place of PublicationUSA
    PublisherIEEE CONTROL SYSTEMS SOCIETY
    Pages646-652
    Number of pages7
    ISBN (Print)978-1-4673-8345-5
    DOIs
    Publication statusPublished - 8 Aug 2016
    Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
    Duration: 21 Jun 201624 Jun 2016

    Publication series

    Name
    PublisherIEEE Control Systems Society

    Conference

    Conference24th Mediterranean Conference on Control and Automation, MED 2016
    Period21/06/1624/06/16
    Other21-24 June 2016

    Keywords

    • EWI-27698
    • IR-103453
    • EC Grant Agreement nr.: FP7/644128
    • METIS-321705

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