University of Twente Student Theses
Design and implementation of a nonlinear model predictive controller for preliminary aerial physical interaction applications
Ganea, B.M. (2021) Design and implementation of a nonlinear model predictive controller for preliminary aerial physical interaction applications.
|
PDF
43MB |
| Abstract: | Starting from a framework targeted for trajectory following applications, current thesis designs and then validates through simulations the steps needed to be taken until mixed motion-control can be achieved with the same framework. For this, it is first extended with an observer software solution that is being used for the estimation of the disturbance wrench acting on the robot (considered to be acting at the center of mass). This solution is chosen instead of a sensor because normally a sensor increases both the cost and weight of the entire platform. Because the existence of an interaction wrench introduces errors on the robot’s position and orientation tracking evolutions, the next extension is to include it in the control architecture in order to assure pose control while being in physical contact. The last design step is to offer the possibility to control also the interaction/contact force, while performing a trajectory task. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 52 mechanical engineering, 54 computer science |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/87570 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page