000 03212nam a22005655i 4500
001 978-3-031-15393-8
003 DE-He213
005 20240207153719.0
007 cr nn 008mamaa
008 221007s2023 sz | s |||| 0|eng d
020 _a9783031153938
_9978-3-031-15393-8
050 4 _aTJ212-225
050 4 _aTJ210.2-211.495
072 7 _aTJFM
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTJFM
_2thema
082 0 4 _a629.8
_223
100 1 _aTomić, Teodor.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
245 1 0 _aModel-Based Control of Flying Robots for Robust Interaction Under Wind Influence
_h[electronic resource] /
_cby Teodor Tomić.
250 _a1st ed. 2023.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2023.
300 _aXX, 156 p. 101 illus., 70 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-742X ;
_v151
500 _aAcceso multiusuario
505 0 _a Introduction -- Modeling -- Tracking and interaction control -- Wind estimation -- Force discrimination -- Applications and outlook -- Conclusion.
520 _aThis 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.
541 _fUABC ;
_cPerpetuidad
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aControl, Robotics, Automation.
650 2 4 _aRobotics.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783031153921
776 0 8 _iPrinted edition:
_z9783031153945
776 0 8 _iPrinted edition:
_z9783031153952
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-742X ;
_v151
856 4 0 _zLibro electrónico
_uhttp://libcon.rec.uabc.mx:2048/login?url=https://doi.org/10.1007/978-3-031-15393-8
912 _aZDB-2-INR
912 _aZDB-2-SXIT
942 _cLIBRO_ELEC
999 _c262840
_d262839