Hybrid predictive control of a coaxial aerial robot for physical interaction through contact

被引：20

作者：

Alexis, Kostas ^{[1
]}

Huerzeler, Christoph ^{[1
]}

Siegwart, Roland ^{[1
]}

机构：

[1] ETH, ASL, CH-8092 Zurich, Switzerland

来源：

CONTROL ENGINEERING PRACTICE | 2014年 / 32卷

关键词：

UAV; Rotorcraft; Aerial robotic physical interaction;

D O I：

10.1016/j.conengprac.2014.07.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

080201 [机械制造及其自动化];

摘要：

This paper deals with the control of an unmanned coaxial helicopter designed towards active physical interaction with its environment. The system design is tailored to robust interaction through contact (e.g. docking and sliding on walls). Due to the rapid change of the dynamics from free-flight to the helicopter subject to the contact forces, a hybrid model is developed. This model captures all modes of the vehicle dynamics and is the basis for the design of a hybrid model predictive control strategy that ensures the stability of the hybrid dynamics and provides optimal maneuvering, docking on walls as well as sliding on them. The proposed control law is evaluated through experimental studies. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：96 / 112

页数：17

共 39 条

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Model predictive quadrotor control: attitude, altitude and position experimental studies [J].