This thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the surrounding environment, with particular attention to the development of modeling and design techniques, and suitable control strategies for these systems. Due to the intrinsic difficulty and the novelty associated with the study of these systems, new techniques are needed to: i) better describe the aerial vehicle dynamics and its actuation limits; ii) effectively design new aerial prototypes with particular properties of dexterity and resilience; iii) guarantee a stable control during contact-less operations despite the actuation limits; and iv) preserve the system stability also during the contact phase with the environment while guaranteeing the fulfillment of the sought manipulation task. This thesis explores new strategies to overcome, to a certain extent, the under-actuation problem of classical multi-rotor platforms, conceived with the propellers aligned towards a common direction. The goal of this thesis is to contribute to a wise growth of the preliminary theoretical results on multi-directional thrust aerial vehicles laid by the state of the art and, furthermore, to the development of more suitable real aerial robotic systems with enhanced manipulation means, tailored for aerial physical interaction tasks. This thesis takes place inside the context of the European H2020 AeroArms project, whose goal is to develop aerial robotic systems with advanced manipulation capabilities to be applied in industrial inspection and maintenance. Hence, also the technology transfer and the impact on the industry plays here an important role.
|Qualification||Doctor of Philosophy|
|Award date||13 Sep 2019|
|Publication status||Published - 13 Sep 2019|