Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction

Burak Yuksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi

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

38 Citations (Scopus)

Abstract

In this paper we propose a controller, based on an extension of Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) framework, for shaping the whole physical characteristics of a quadrotor and for obtaining a desired interactive behavior between the robot and the environment. In the control design, we shape the total energy (kinetic and potential) of the undamped original system by first excluding external effects. In this way we can assign a new dynamics to the system. Then we apply damping injection to the new system for achieving a desired damped behavior. Then we show how to connect a high-level control input to such system by taking advantage of the new desired physics. We support the theory with extensive simulations by changing the overall behavior of the UAV for different desired dynamics, and show the advantage of this method for sliding on a surface tasks, such as ceiling painting, cleaning or surface inspection.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages6258-6265
Number of pages8
ISBN (Print)978-1-4799-3685-4
DOIs
Publication statusPublished - 22 Sep 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2014
ISSN (Print)1050-4729

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Abbreviated titleICRA
CountryChina
CityHong Kong
Period31/05/147/06/14

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