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",
    address = "United States",

    }

    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

    TY - GEN

    T1 - Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor

    T2 - A Geometric Port-Hamiltonian Approach

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    AU - Stramigioli, Stefano

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    N2 - 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.

    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.

    U2 - 10.1109/ICRA.2019.8793939

    DO - 10.1109/ICRA.2019.8793939

    M3 - Conference contribution

    SN - 978-1-5386-8176-3

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    EP - 6424

    BT - 2019 International Conference on Robotics and Automation (ICRA)

    PB - IEEE

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