Model-based control of flying robots for robust interaction under wind influence / Teodor Tomić.
Tomić, Teodor (Writer on drone aircraft), author.
2023
TL685.35
Available Online

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Title Model-based control of flying robots for robust interaction under wind influence / Teodor Tomić.
Author Tomić, Teodor (Writer on drone aircraft), author.
ISBN 9783031153938 (electronic bk.)
3031153936 (electronic bk.)
3031153928
9783031153921
DOI https://doi.org/10.1007/978-3-031-15393-8
Published Cham : Springer, [2023]
Copyright ©2023
Language English
Description 1 online resource (xx, 156 pages) : illustrations (some color).
Item Number 10.1007/978-3-031-15393-8 doi
Call Number TL685.35
Dewey Decimal Classification 629.133/39
Summary 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.
Bibliography, etc. Note Includes bibliographical references.
Access Note Access limited to authorized users.
Source of Description Description based on print version record.
Series Springer tracts in advanced robotics ; v. 151.
Available in Other Form MODEL-BASED CONTROL OF FLYING ROBOTS FOR ROBUST INTERACTION UNDER WIND INFLUENCE.
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Record Appears in Online Resources > Ebooks
All Resources
Introduction
Modeling
Tracking and interaction control
Wind estimation
Force discrimination
Applications and outlook
Conclusion.

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