Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor: A Geometric Port-Hamiltonian Approach

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

2 Citations (Scopus)
3 Downloads (Pure)

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’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’s overall contact stability to arbitrary passive environments. The reliability and robustness of the proposed approach is validated through simulation and experiment.
Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages6418-6424
ISBN (Electronic)978-1-5386-6027-0, 978-1-5386-6026-3
ISBN (Print)978-1-5386-8176-3
DOIs
Publication statusE-pub ahead of print/First online - 12 Aug 2019
Event2019 IEEE International Conference on Robotics and Automation, ICRA 2019 - Palais des Congrès de Montreal, Montreal, Canada
Duration: 20 May 201924 May 2019

Conference

Conference2019 IEEE International Conference on Robotics and Automation, ICRA 2019
Abbreviated titleICRA 2019
CountryCanada
CityMontreal
Period20/05/1924/05/19

Fingerprint

Hand tools
Hamiltonians
Controllers
Unmanned aerial vehicles (UAV)
Torque
Robots
Antennas
Sensors
Experiments

Cite this

@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’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’s overall contact stability to arbitrary passive environments. The reliability and robustness of the proposed approach is validated through simulation and experiment.",
author = "Ramy Rashad and Engelen, {Johan B.C.} and Stefano Stramigioli",
year = "2019",
month = "8",
day = "12",
doi = "10.1109/ICRA.2019.8793939",
language = "English",
isbn = "978-1-5386-8176-3",
pages = "6418--6424",
booktitle = "2019 International Conference on Robotics and Automation (ICRA)",
publisher = "IEEE",
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}

Rashad, R, Engelen, JBC & Stramigioli, S 2019, Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor: A Geometric Port-Hamiltonian Approach. in 2019 International Conference on Robotics and Automation (ICRA). IEEE, pp. 6418-6424, 2019 IEEE International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8793939

Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor : A Geometric Port-Hamiltonian Approach. / Rashad, Ramy; Engelen, Johan B.C.; Stramigioli, Stefano .

2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. p. 6418-6424.

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

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AB - 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’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’s overall contact stability to arbitrary passive environments. The reliability and robustness of the proposed approach is validated through simulation and experiment.

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