Energy-based modeling and control of interactive aerial robots

Rashad, Ramy

doi:10.3990/1.9789036551137

Cited by 4 publications

(7 citation statements)

References 247 publications

(460 reference statements)

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“…This alternative view of dynamical systems have proven very effective for modeling, analysis and control purposes within the framework of port-Hamiltonian systems. The interested reader in this topic can refer to [8,22,27].…”

Section: Discussionmentioning

confidence: 99%

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A geometric formulation of multirotor aerial vehicle dynamics

et al. 2021

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A geometric dynamic modeling framework for generic multirotor aerial vehicles (MAV), based on a modern Lie group formulation of classical screw theory, is presented. Our framework allows for a broad range of rotor-wing configurations: any number of rotors can be attached in arbitrary configurations to either the body or wings, with the rotors and wings also tiltable. Our framework takes into account all masses and inertias of the MAV body and rotors, and accounts for both rotor thrust forces and moments as well as external aerodynamic and other forces. Compared to existing methods, our Lie group framework possesses several practical advantages useful for applications ranging from design optimization to model identification and trajectory optimization: (i) the dynamic equations can be easily transformed to coordinates of any reference frame; (ii) kinematic and mass-inertial parameters can be easily factored from the dynamic equations; (iii) exact, closedform analytic derivatives of the dynamics with respect to the configuration variables are easily derived. We demonstrate our systematic modeling procedure on examples of fixed-tilt, variable-tilt, and hybrid MAVs with wings.

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Section: Discussionmentioning

confidence: 99%

“…By substituting equations (22,25,26) into ( 24) and expressing all quantities related to the child body in {p} using (15)(16)(17)(18), one can express the wrench W p,p c applied by the child on the parent as…”

Section: Parent-child Relationsmentioning

confidence: 99%

A geometric formulation of multirotor aerial vehicle dynamics

et al. 2021

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“…The pair (W b , T b ) define the power port by means of which the rigid body can be interconnected to other systems to compose a bigger dynamical system. For more details on this pH representation of rigid body motion and its derivation using Lie-Poisson reduction, the reader is referred to [23,25].…”

Section: Discussionmentioning

confidence: 99%

“…3)×se(3) represent the flow and effort variables of the energy storage subsystem, respectively. It can be shown that [25,23,24]…”

Section: Port-hamiltonian Model Of the Rigid Bodymentioning

confidence: 99%

Energetic decomposition of Distributed Systems with Moving Material Domains: the port-Hamiltonian model of Fluid-Structure Interaction

Califano,

Rashad,

Schuller

et al. 2021

Preprint

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We introduce the geometric structure underlying the port-Hamiltonian models for distributed parameter systems exhibiting moving material domains. The first part of the paper aims at introducing the differential geometric tools needed to represent infinite-dimensional systems on time-varying spatial domains in a port-based framework. A throughout description on the way we extend the structure presented in the seminal work [1], where only fixed spatial domains were considered, is carried through. As application of the proposed structure, we show how to model in a completely coordinate-free way the 3D fluid-structure interaction model for a rigid body immersed in an incompressible viscous flow as an interconnection of open dynamical subsystems.

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“…where all symbols are defined in Table I. The MAV's equations of motion (1-3) can be reformulated in the port-Hamiltonian framework as the explicit dynamical system [6,37]:…”

Section: A Flying-end Effectormentioning

confidence: 99%

Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework

Rashad

Bicego

Zult³

et al. 2022

IEEE Trans. Robot.

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The extension of variable stiffness impedance control for safe wrench regulation using the concept of energy tanks is tackled in this paper, where both the modeling and the control are carried out in the port Hamiltonian framework. We exploit previous well-known results in the literature of ground manipulators and extend them to be applied for novel and challenging aerial physical interaction applications. The energy-awareness of the presented control method guarantees the stability of the aerial robot in both free-flight and in-contact scenarios together with a level of safety in the case of contact-loss with the unknown environment. To the best of our knowledge, this is the first time an energy-based impedance controller for aerial robots is derived, extended to accomplish interaction control, enhanced to account for safety behavior entirely in the port-Hamiltonian framework, and extensively tested with real experiments on a fully-actuated multirotor aerial vehicle.

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Energy-based modeling and control of interactive aerial robots

Cited by 4 publications

References 247 publications

A geometric formulation of multirotor aerial vehicle dynamics

A geometric formulation of multirotor aerial vehicle dynamics

Energetic decomposition of Distributed Systems with Moving Material Domains: the port-Hamiltonian model of Fluid-Structure Interaction

Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework

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