TY - GEN
T1 - Impedance control of VToL UAVs with a momentum-based external generalized forces estimator
AU - Ruggiero, Fabio
AU - Cacace, Jonathan
AU - Sadeghian, Hamid
AU - Lippiello, Vincenzo
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - An estimator of external generalized forces (force plus moments) acting on aerial platforms, and based on the momentum of the mechanical system, is proposed for the control of VToL UAVs together with a hierarchical architecture separating the translational and rotational dynamics of the vehicle. The closed-loop system equations are shaped as mechanical impedances, programmable through the controller gains, and forced by the residuals given by the estimation error. This arrangement allows the VToL UAVs to perform hovering and tracking tasks without a precise knowledge of the vehicle dynamics and in presence of external disturbances and unmodeled aerodynamic effects. Experiments are presented to evaluate the performance of the proposed control design.
AB - An estimator of external generalized forces (force plus moments) acting on aerial platforms, and based on the momentum of the mechanical system, is proposed for the control of VToL UAVs together with a hierarchical architecture separating the translational and rotational dynamics of the vehicle. The closed-loop system equations are shaped as mechanical impedances, programmable through the controller gains, and forced by the residuals given by the estimation error. This arrangement allows the VToL UAVs to perform hovering and tracking tasks without a precise knowledge of the vehicle dynamics and in presence of external disturbances and unmodeled aerodynamic effects. Experiments are presented to evaluate the performance of the proposed control design.
UR - https://www.scopus.com/pages/publications/84911479967
U2 - 10.1109/ICRA.2014.6907146
DO - 10.1109/ICRA.2014.6907146
M3 - Conference contribution
AN - SCOPUS:84911479967
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2093
EP - 2099
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -