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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.

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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:http://purl.utwente.nl/essays/87570
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