A nonlinear force observer for quadrotors and application to physical interactive tasks

Burak Yüksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    70 Citations (Scopus)

    Abstract

    In order to properly control the physical interactive behavior of a flying vehicle, the information about the forces acting on the robot is very useful. Force/torque sensors can be exploited for measuring such information but their use increases the cost of the equipment, the weight to be carried by the robot and, consequently, it reduces the flying autonomy. Furthermore, a sensor can measure only the force/torque applied to the point it is mounted in. In order to overcome these limitations, in this paper we introduce a Lyapunov based nonlinear observer for estimating the external forces applied to a quadrotor. Furthermore, we show how to exploit the estimated force for shaping the interactive behavior of the quadrotor using Interconnection and Damping Assignment Passivity Based Controller (IDA-PBC). The results of the paper are validated by means of simulations.

    Original languageEnglish
    Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages433-440
    Number of pages8
    ISBN (Print)9781479957361
    DOIs
    Publication statusPublished - 2014
    Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
    Duration: 2014 Jul 82014 Jul 11

    Publication series

    NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

    Other

    Other2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
    Country/TerritoryFrance
    CityBesancon
    Period14/7/814/7/11

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

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