A comparison of control approaches for aerial manipulators handling physical impacts

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

doi:10.1109/MED.2016.7535915

A comparison of control approaches for aerial manipulators handling physical impacts

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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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 language	Undefined
Title of host publication	24th Mediterranean Conference on Control and Automation, MED 2016
Place of Publication	USA
Publisher	IEEE Control Systems Society
Pages	646-652
Number of pages	7
ISBN (Print)	978-1-4673-8345-5
DOIs	https://doi.org/10.1109/MED.2016.7535915
Publication status	Published - 8 Aug 2016
Event	24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece Duration: 21 Jun 2016 → 24 Jun 2016

Publication series

Name
Publisher	IEEE Control Systems Society

Conference

Conference	24th Mediterranean Conference on Control and Automation, MED 2016
Period	21/06/16 → 24/06/16
Other	21-24 June 2016

Keywords

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

Access to Document

10.1109/MED.2016.7535915

Cite this

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title = "A comparison of control approaches for aerial manipulators handling physical impacts",

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.",

keywords = "EWI-27698, IR-103453, EC Grant Agreement nr.: FP7/644128, METIS-321705",

author = "J.T. Bartelds and Wopereis, {Han Willem} and Stefano Stramigioli and Matteo Fumagalli",

note = "10.1109/MED.2016.7535915 ; null ; Conference date: 21-06-2016 Through 24-06-2016",

year = "2016",

month = aug,

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doi = "10.1109/MED.2016.7535915",

language = "Undefined",

isbn = "978-1-4673-8345-5",

publisher = "IEEE Control Systems Society",

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Bartelds, JT, Wopereis, HW, Stramigioli, S & Fumagalli, M 2016, A comparison of control approaches for aerial manipulators handling physical impacts. in 24th Mediterranean Conference on Control and Automation, MED 2016. IEEE Control Systems Society, USA, pp. 646-652, 24th Mediterranean Conference on Control and Automation, MED 2016, 21/06/16. https://doi.org/10.1109/MED.2016.7535915

A comparison of control approaches for aerial manipulators handling physical impacts. / Bartelds, J.T.; Wopereis, Han Willem; Stramigioli, Stefano et al.

24th Mediterranean Conference on Control and Automation, MED 2016. USA : IEEE Control Systems Society, 2016. p. 646-652.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Wopereis, Han Willem

AU - Stramigioli, Stefano

AU - Fumagalli, Matteo

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AB - 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.

KW - EWI-27698

KW - IR-103453

KW - EC Grant Agreement nr.: FP7/644128

KW - METIS-321705

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DO - 10.1109/MED.2016.7535915

M3 - Conference contribution

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BT - 24th Mediterranean Conference on Control and Automation, MED 2016

PB - IEEE Control Systems Society

CY - USA

Y2 - 21 June 2016 through 24 June 2016

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