University of Twente Student Theses


Energy-based control of an underactuated quadrotor using a geometrical spring-damper approach

Graat, J.J. (2018) Energy-based control of an underactuated quadrotor using a geometrical spring-damper approach.

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Abstract:Nowadays, quadrotors are getting more applications where it is necessary to interact with the environment which is in general unknown. For guaranteed safe interaction, the energy in the system should be considered explicitly. Using energy-based control, virtual dynamics are added to the plant such that the desired dynamics are achieved. An energy-based controller using a virtual spring-damper has been developed for a underactuated quadrotor. A virtual spring with a Remote Center of Compliance (RCC) is presented to induce a coupling between the error in the non-actuated plane and the quadrotor tilting torque. To guarantee safe interaction, the controller should be passive. It is shown that passivity is destroyed by the projection of the control wrench on the subspace of implementable wrenches if done naively. An energy-tank is proposed to recover passivity. Simulations and experiments have been performed to study the passivity and the behavior of the controller. It has been concluded that underactuation and the rotor dynamics are problematic for the passivity of the controller. Furthermore, with the currently available quadrotor hardware, energy-based control can only be implemented by approximation. However, RCCbased control is found to be promising, especially for interaction control.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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