Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence
Tomić, Teodor.
Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence [electronic resource] / by Teodor Tomić. - 1st ed. 2023. - XX, 156 p. 101 illus., 70 illus. in color. online resource. - Springer Tracts in Advanced Robotics, 151 1610-742X ; . - Springer Tracts in Advanced Robotics, 151 .
Acceso multiusuario
Introduction -- Modeling -- Tracking and interaction control -- Wind estimation -- Force discrimination -- Applications and outlook -- Conclusion.
This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.
9783031153938
Control engineering.
Robotics.
Automation.
Control, Robotics, Automation.
Robotics.
TJ212-225 TJ210.2-211.495
629.8
Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence [electronic resource] / by Teodor Tomić. - 1st ed. 2023. - XX, 156 p. 101 illus., 70 illus. in color. online resource. - Springer Tracts in Advanced Robotics, 151 1610-742X ; . - Springer Tracts in Advanced Robotics, 151 .
Acceso multiusuario
Introduction -- Modeling -- Tracking and interaction control -- Wind estimation -- Force discrimination -- Applications and outlook -- Conclusion.
This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.
9783031153938
Control engineering.
Robotics.
Automation.
Control, Robotics, Automation.
Robotics.
TJ212-225 TJ210.2-211.495
629.8
