Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence [electronic resource] / by Teodor Tomić.
Tipo de material: TextoSeries Springer Tracts in Advanced Robotics ; 151Editor: Cham : Springer International Publishing : Imprint: Springer, 2023Edición: 1st ed. 2023Descripción: XX, 156 p. 101 illus., 70 illus. in color. online resourceTipo de contenido: text Tipo de medio: computer Tipo de portador: online resourceISBN: 9783031153938Tema(s): Control engineering | Robotics | Automation | Control, Robotics, Automation | RoboticsFormatos físicos adicionales: Printed edition:: Sin título; Printed edition:: Sin título; Printed edition:: Sin títuloClasificación CDD: 629.8 Clasificación LoC:TJ212-225TJ210.2-211.495Recursos en línea: Libro electrónicoTipo de ítem | Biblioteca actual | Colección | Signatura | Copia número | Estado | Fecha de vencimiento | Código de barras |
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Libro Electrónico | Biblioteca Electrónica | Colección de Libros Electrónicos | 1 | No para préstamo |
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.
UABC ; Perpetuidad