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

Burak Yuksel; Cristian Secchi; Heinrich H. Bulthoff; Antonio Franchi

doi:10.1109/ICRA.2014.6907782

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

Burak Yuksel, Cristian Secchi, Heinrich H. Bulthoff, Antonio Franchi

Department of Brain and Cognitive Engineering

Research output: Contribution to journal › Conference article › peer-review

44 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 language	English
Article number	6907782
Pages (from-to)	6258-6265
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ICRA.2014.6907782
Publication status	Published - 2014 Sep 22
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 2014 May 31 → 2014 Jun 7

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2014.6907782

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Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction. / Yuksel, Burak; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio.

In: Proceedings - IEEE International Conference on Robotics and Automation, 22.09.2014, p. 6258-6265.

Research output: Contribution to journal › Conference article › peer-review

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

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