TY - GEN
T1 - A nonlinear force observer for quadrotors and application to physical interactive tasks
AU - Yüksel, Burak
AU - Secchi, Cristian
AU - Bülthoff, Heinrich H.
AU - Franchi, Antonio
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84906706677&partnerID=8YFLogxK
U2 - 10.1109/AIM.2014.6878116
DO - 10.1109/AIM.2014.6878116
M3 - Conference contribution
AN - SCOPUS:84906706677
SN - 978-1-4799-5736-1
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 433
EP - 440
BT - AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - IEEE
CY - Piscataway, NJ
T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Y2 - 8 July 2014 through 11 July 2014
ER -