Model-Based Control of Flying Robots for Robust Interaction under Wind Influence (Springer Tracts in Advanced Robotics)

Tomić, Teodor

Springer International Publishing AG（2023/10発売）

• 製本 Paperback:紙装版/ペーパーバック版／ページ数 156 p.
• 商品コード 9783031153952

Full Description

This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.

Contents

 Introduction.- Modeling.- Tracking and interaction control.- Wind estimation.- Force discrimination.- Applications and outlook.- Conclusion.