@inproceedings{ddf2cf8127c04d0a9408f063a6a02db3,
title = "Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor: A Geometric Port-Hamiltonian Approach",
abstract = "In this work, we show how the interactive behavior of an aerial robot can be modeled and controlled effectively and elegantly in the port-Hamiltonian framework. We present an observer-based wrench/impedance controller for a fully-actuated hexarotor. The analysis and control are performed in a geometrically consistent manner on the configuration manifold of the special Euclidean group SE (3) such that the UAV{\textquoteright}s nonlinear geometric structure is exploited. The controller uses a wrench observer to estimate the interaction wrench without the use of a force/torque sensor. Moreover, the concept of energy tanks is used to guarantee the system{\textquoteright}s overall contact stability to arbitrary passive environments. The reliability and robustness of the proposed approach is validated through simulation and experiment.",
keywords = "2020 OA procedure",
author = "Ramy Rashad and Engelen, {Johan B.C.} and Stefano Stramigioli",
year = "2019",
month = aug,
day = "12",
doi = "10.1109/ICRA.2019.8793939",
language = "English",
isbn = "978-1-5386-8176-3",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "IEEE",
pages = "6418--6424",
booktitle = "2019 International Conference on Robotics and Automation (ICRA)",
address = "United States",
note = "2019 IEEE International Conference on Robotics and Automation, ICRA 2019, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",
}