We present an observer-based wrench/impedance controller for a fully-actuated hexarotor. The analysis and control are performed in a geometrically consistent ...
This work presents an observer-based wrench/impedance controller for a fully-actuated hexarotor that uses a wrench observer to estimate the interaction wrench.
In this paper, we present an energy tank-based wrench/impedance controller of a fully-actuated hexarotor. UAV. The modeling, analysis, and control is achieved ...
Concluding the introduction, in this paper we adopt a fully-actuated hexarotor, which has a better wrenchexerting capability than traditional multi-rotors, with ...
Aug 12, 2019 · In this work, we show how the interactive behavior of an aerial robot can be modeled and controlled effectively and elegantly in the ...
2019. Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach. R Rashad, JBC Engelen, S Stramigioli.
Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach. R Rashad, JBC Engelen, S Stramigioli. 2019 ...
Jul 23, 2024 · Our approach will be based on virtual energy tanks. This strategy aims to regulate energy exchange and maintain the system's passivity even in ...
Jul 2, 2021 · This paper presents a novel paradigm for automatic aerial contact-based sliding interaction (inspection/cleaning) tasks in aerial robotics
Energy-based Modeling and Control of Interactive Aerial Robots: A Geometric Port-Hamiltonian Approach, University of Twente, The Netherlands (2021). doi ...