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Design of a contact-mode controller for applying a notable force on a surface using an aerial manipulator

Hoekstra, J.J. (2016) Design of a contact-mode controller for applying a notable force on a surface using an aerial manipulator.

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Abstract:One of the main tasks in research towards aerial robotics is to en- able the use of multirotor UAVs for dynamic aerial interaction and air- borne maintenance tasks. This work presents a novel control algorithm for stabilizing multirotor-UAVs applying high physical contact forces on the environment. By combining state feedback on the roll and yaw an- gle, and making use of the dynamics of physical contact, an integrated controller is designed and tuned using the LQR method. Experiments have been performed using this controller, during which a contact force of more than 15 N was exerted against a vertical surface for several minutes, demonstrating the e�ectiveness of the algorithm.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/81310
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