Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction

Burak Yuksel, Cristian Secchi, Heinrich Bulthoff, Antonio Franchi

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

34 Citations (Scopus)

Abstract

In this paper we propose a controller, based on an extension of Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) framework, for shaping the whole physical characteristics of a quadrotor and for obtaining a desired interactive behavior between the robot and the environment. In the control design, we shape the total energy (kinetic and potential) of the undamped original system by first excluding external effects. In this way we can assign a new dynamics to the system. Then we apply damping injection to the new system for achieving a desired damped behavior. Then we show how to connect a high-level control input to such system by taking advantage of the new desired physics. We support the theory with extensive simulations by changing the overall behavior of the UAV for different desired dynamics, and show the advantage of this method for sliding on a surface tasks, such as ceiling painting, cleaning or surface inspection.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6258-6265
Number of pages8
DOIs
Publication statusPublished - 2014 Sep 22
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
CountryChina
CityHong Kong
Period14/5/3114/6/7

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Yuksel, B., Secchi, C., Bulthoff, H., & Franchi, A. (2014). Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 6258-6265). [6907782] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907782