Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering

Ramy Rashad*, Federico Califano, Stefano Stramigioli

*Corresponding author for this work

    Research output: Contribution to journalArticleAcademicpeer-review

    1 Citation (Scopus)
    34 Downloads (Pure)

    Abstract

    In this work, we approach the control problem of fully-actuated UAVs in a geometric port-Hamiltonian framework. The UAV is modeled as a floating rigid body on the special Euclidean group SE(3). A unified near-hovering motion and impedance controller is derived by the energy-balancing passivity-based control technique. A detailed analysis of the closed-loop system's behavior is presented for both the free-flight stability and contact stability of the UAV. The robustness of the control system to uncertainties is validated by several experiments, in which the UAV is controlled near its actuator limits. The experiments show the ability of the UAV to hover at its maximum allowed roll angle and apply its maximum allowed normal force to a surface, without the input saturation destabilizing the system.
    Original languageEnglish
    Article number8786163
    Pages (from-to)4378 - 4385
    Number of pages8
    JournalIEEE Robotics and automation letters
    Volume4
    Issue number4
    Early online date2 Aug 2019
    DOIs
    Publication statusPublished - 1 Oct 2019

    Fingerprint

    Passivity-based Control
    Hamiltonians
    Unmanned aerial vehicles (UAV)
    Antennas
    Input Saturation
    Interaction
    Rigid Body
    Balancing
    Impedance
    Closed-loop System
    Experiment
    Actuator
    Control Problem
    Euclidean
    Control System
    Contact
    Robustness
    Controller
    Uncertainty
    Angle

    Keywords

    • Compliance and impedance control
    • Motion control
    • Port-Hamiltonian
    • UAV

    Cite this

    @article{7b9ae3303cea467db8d1cc138ec28b6c,
    title = "Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering",
    abstract = "In this work, we approach the control problem of fully-actuated UAVs in a geometric port-Hamiltonian framework. The UAV is modeled as a floating rigid body on the special Euclidean group SE(3). A unified near-hovering motion and impedance controller is derived by the energy-balancing passivity-based control technique. A detailed analysis of the closed-loop system's behavior is presented for both the free-flight stability and contact stability of the UAV. The robustness of the control system to uncertainties is validated by several experiments, in which the UAV is controlled near its actuator limits. The experiments show the ability of the UAV to hover at its maximum allowed roll angle and apply its maximum allowed normal force to a surface, without the input saturation destabilizing the system.",
    keywords = "Compliance and impedance control, Motion control, Port-Hamiltonian, UAV",
    author = "Ramy Rashad and Federico Califano and Stefano Stramigioli",
    year = "2019",
    month = "10",
    day = "1",
    doi = "10.1109/LRA.2019.2932864",
    language = "English",
    volume = "4",
    pages = "4378 -- 4385",
    journal = "IEEE Robotics and automation letters",
    issn = "2377-3766",
    publisher = "IEEE",
    number = "4",

    }

    Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering. / Rashad, Ramy; Califano, Federico ; Stramigioli, Stefano .

    In: IEEE Robotics and automation letters, Vol. 4, No. 4, 8786163, 01.10.2019, p. 4378 - 4385.

    Research output: Contribution to journalArticleAcademicpeer-review

    TY - JOUR

    T1 - Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering

    AU - Rashad, Ramy

    AU - Califano, Federico

    AU - Stramigioli, Stefano

    PY - 2019/10/1

    Y1 - 2019/10/1

    N2 - In this work, we approach the control problem of fully-actuated UAVs in a geometric port-Hamiltonian framework. The UAV is modeled as a floating rigid body on the special Euclidean group SE(3). A unified near-hovering motion and impedance controller is derived by the energy-balancing passivity-based control technique. A detailed analysis of the closed-loop system's behavior is presented for both the free-flight stability and contact stability of the UAV. The robustness of the control system to uncertainties is validated by several experiments, in which the UAV is controlled near its actuator limits. The experiments show the ability of the UAV to hover at its maximum allowed roll angle and apply its maximum allowed normal force to a surface, without the input saturation destabilizing the system.

    AB - In this work, we approach the control problem of fully-actuated UAVs in a geometric port-Hamiltonian framework. The UAV is modeled as a floating rigid body on the special Euclidean group SE(3). A unified near-hovering motion and impedance controller is derived by the energy-balancing passivity-based control technique. A detailed analysis of the closed-loop system's behavior is presented for both the free-flight stability and contact stability of the UAV. The robustness of the control system to uncertainties is validated by several experiments, in which the UAV is controlled near its actuator limits. The experiments show the ability of the UAV to hover at its maximum allowed roll angle and apply its maximum allowed normal force to a surface, without the input saturation destabilizing the system.

    KW - Compliance and impedance control

    KW - Motion control

    KW - Port-Hamiltonian

    KW - UAV

    UR - http://www.scopus.com/inward/record.url?scp=85071488449&partnerID=8YFLogxK

    U2 - 10.1109/LRA.2019.2932864

    DO - 10.1109/LRA.2019.2932864

    M3 - Article

    VL - 4

    SP - 4378

    EP - 4385

    JO - IEEE Robotics and automation letters

    JF - IEEE Robotics and automation letters

    SN - 2377-3766

    IS - 4

    M1 - 8786163

    ER -