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Separation of Interaction Wrench and Wind Disturbances from Wrench Observer in Fully-Actuated UAVs

Zulkarnaen, Z. (2019) Separation of Interaction Wrench and Wind Disturbances from Wrench Observer in Fully-Actuated UAVs.

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Abstract:A UAV with physical interaction capabilities has potentials for scenarios where tool force control or contact inspection are required. This application requires the UAV to be able to control the interaction force while rejecting other disturbances, such as wind disturbances. Wrench observer provides an estimation of the disturbance wrench that is acting on the UAV; which includes interaction wrench, aerodynamic wrench, and model error. This thesis is a preliminary study to implement blind signal separation (BSS) method, particularly independent component analysis (ICA), to separate interaction wrench and other disturbances---which includes wind disturbance---from the estimated disturbance of wrench observer. Simulations and experiments of physical interaction on a fully-actuated hexarotor have been conducted. ICA has been applied to separate the observed disturbance of the acquired data. The result from the simulations shows that if the number of disturbances are limited, ICA could separate the observed disturbance. However, the real-world experiments show that the number of disturbance sources exceeds the number of the available measurement for ICA to perform well.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology, 54 computer science
Programme:Embedded Systems MSc (60331)
Link to this item:http://purl.utwente.nl/essays/77171
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