Adaptive stiffness estimation impedance control for achieving sustained contact in aerial manipulation

Marković, Lovro; Car, Marko; Orsag, Matko; Bogdan, Stjepan

doi:10.1109/icra48506.2021.9561886

Cited by 15 publications

(2 citation statements)

References 23 publications

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“…An impedance-based force controller was presented in [10] and [11] for a uUAM conducting peg-in-hole insertion tasks. In [12], an image-based visual impedance force controller was introduced.…”

Section: Introductionmentioning

confidence: 99%

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Byun¹,

Kim²,

Kim³

et al. 2023

Preprint

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This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this end, we model the force exerted on the end-effector as the Kelvin-Voigt linear model and estimate its parameters by recursive least-squares estimator. Then, the gains of the disturbance-observer (DOB)-based motion/force controller are calculated based on the stability conditions considering both the model uncertainties in the dynamic equation and switching between the free and contact motions. To validate the proposed controller, we conducted the time-varying motion/force tracking experiments with different approach speeds and orientations of the surface. The results show that our controller enables the aerial manipulator to track the time-varying motion/force trajectories.

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Section: Introductionmentioning

confidence: 99%

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Byun¹,

Kim²,

Kim³

et al. 2023

Preprint

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“…The impedance method is exploited in [21] for a tethered UAV exerting physical human-robot interaction. Lovro et al in [22] proposed using an impedance controller coupled with an online stiffness estimation algorithm for UAV to exert aerial inspection, applying regulated force via the end-effector to the contact surface. However, these methods are particularly designed for UUAVs, which are difficult to generalize to FUAVs.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction

Jiao

Rong

et al. 2023

Sensors

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In this paper, the problem of a fully actuated hexarotor performing a physical interaction with the environment through a rigidly attached tool is considered. A nonlinear model predictive impedance control (NMPIC) method is proposed to achieve the goal in which the controller is able to simultaneously handle the constraints and maintain the compliant behavior. The design of NMPIC is the combination of a nonlinear model predictive control and impedance control based on the dynamics of the system. A disturbance observer is exploited to estimate the external wrench and then provide compensation for the model which was employed in the controller. Moreover, a weight adaptive strategy is proposed to perform the online tuning of the weighting matrix of the cost function within the optimal problem of NMPIC to improve the performance and stability. The effectiveness and advantages of the proposed method are validated by several simulations in different scenarios compared with the general impedance controller. The results also indicate that the proposed method opens a novel way for interaction force regulation.

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A fuzzy-based impedance control for force tracking in unknown environment

Shen

Zhuang

2022

J Mech Sci Technol

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Adaptive stiffness estimation impedance control for achieving sustained contact in aerial manipulation

Cited by 15 publications

References 23 publications

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction

A fuzzy-based impedance control for force tracking in unknown environment

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