A nonlinear force observer for quadrotors and application to physical interactive tasks

Burak Yüksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

48 Citations (Scopus)

Abstract

In order to properly control the physical interactive behavior of a flying vehicle, the information about the forces acting on the robot is very useful. Force/torque sensors can be exploited for measuring such information but their use increases the cost of the equipment, the weight to be carried by the robot and, consequently, it reduces the flying autonomy. Furthermore, a sensor can measure only the force/torque applied to the point it is mounted in. In order to overcome these limitations, in this paper we introduce a Lyapunov based nonlinear observer for estimating the external forces applied to a quadrotor. Furthermore, we show how to exploit the estimated force for shaping the interactive behavior of the quadrotor using Interconnection and Damping Assignment Passivity Based Controller (IDA-PBC). The results of the paper are validated by means of simulations.

Original languageEnglish
Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages433-440
Number of pages8
ISBN (Electronic)978-1-4799-5735-4
ISBN (Print)978-1-4799-5736-1
DOIs
Publication statusPublished - 2014
Externally publishedYes
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besançon, France
Duration: 8 Jul 201411 Jul 2014

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherIEEE
Volume2014
ISSN (Print)2159-6247
ISSN (Electronic)2159-6255

Conference

Conference2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Abbreviated titleAIM
CountryFrance
CityBesançon
Period8/07/1411/07/14

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