Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Fabio Ruggiero; Jonathan Cacace; Hamid Sadeghian; Vincenzo Lippiello

doi:10.1016/j.robot.2015.05.006

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

Fabio Ruggiero, Jonathan Cacace, Hamid Sadeghian, Vincenzo Lippiello

Research output: Contribution to journal › Article › peer-review

56 Scopus citations

Abstract

A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench (forces plus moments) acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects. This arrangement allows VToL UAVs to perform hovering, tracking and aerial manipulation tasks in unstructured environments. A rigorous stability proof is provided under certain assumptions. Experiments are presented to evaluate the performance of the proposed control design.

Original language	English
Pages (from-to)	139-151
Number of pages	13
Journal	Robotics and Autonomous Systems
Volume	72
DOIs	https://doi.org/10.1016/j.robot.2015.05.006
State	Published - 1 Oct 2015
Externally published	Yes

Keywords

External wrench estimation
Passivity-based control
Unmodeled dynamics
VToL UAV control

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10.1016/j.robot.2015.05.006

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title = "Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics",

abstract = "A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench (forces plus moments) acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects. This arrangement allows VToL UAVs to perform hovering, tracking and aerial manipulation tasks in unstructured environments. A rigorous stability proof is provided under certain assumptions. Experiments are presented to evaluate the performance of the proposed control design.",

keywords = "External wrench estimation, Passivity-based control, Unmodeled dynamics, VToL UAV control",

author = "Fabio Ruggiero and Jonathan Cacace and Hamid Sadeghian and Vincenzo Lippiello",

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AU - Ruggiero, Fabio

AU - Cacace, Jonathan

AU - Sadeghian, Hamid

AU - Lippiello, Vincenzo

PY - 2015/10/1

Y1 - 2015/10/1

N2 - A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench (forces plus moments) acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects. This arrangement allows VToL UAVs to perform hovering, tracking and aerial manipulation tasks in unstructured environments. A rigorous stability proof is provided under certain assumptions. Experiments are presented to evaluate the performance of the proposed control design.

AB - A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench (forces plus moments) acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects. This arrangement allows VToL UAVs to perform hovering, tracking and aerial manipulation tasks in unstructured environments. A rigorous stability proof is provided under certain assumptions. Experiments are presented to evaluate the performance of the proposed control design.

KW - External wrench estimation

KW - Passivity-based control

KW - Unmodeled dynamics

KW - VToL UAV control

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M3 - Article

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SN - 0921-8890

VL - 72

SP - 139

EP - 151

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

ER -

Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics

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Keywords

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