A nonlinear force observer for quadrotors and application to physical interactive tasks

Burak Yüksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

43 Citations (Scopus)

Abstract

In order to properly control the physical interactive behavior of a flying vehicle, the information about the forces acting on the robot is very useful. Force/torque sensors can be exploited for measuring such information but their use increases the cost of the equipment, the weight to be carried by the robot and, consequently, it reduces the flying autonomy. Furthermore, a sensor can measure only the force/torque applied to the point it is mounted in. In order to overcome these limitations, in this paper we introduce a Lyapunov based nonlinear observer for estimating the external forces applied to a quadrotor. Furthermore, we show how to exploit the estimated force for shaping the interactive behavior of the quadrotor using Interconnection and Damping Assignment Passivity Based Controller (IDA-PBC). The results of the paper are validated by means of simulations.

Original languageEnglish
Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages433-440
Number of pages8
ISBN (Print)9781479957361
DOIs
Publication statusPublished - 2014
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: 2014 Jul 82014 Jul 11

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
CountryFrance
CityBesancon
Period14/7/814/7/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Yüksel, B., Secchi, C., Bülthoff, H. H., & Franchi, A. (2014). A nonlinear force observer for quadrotors and application to physical interactive tasks. In AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 433-440). [6878116] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2014.6878116