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Achieving Stable and Safe Physical Interaction for a Fully Actuated Aerial Robot using Energy Tank-Based Interaction Control

Zult, J.D. (2020) Achieving Stable and Safe Physical Interaction for a Fully Actuated Aerial Robot using Energy Tank-Based Interaction Control.

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Abstract:In recent years, there has been a growing attention on utilizing aerial robots for tasks that require them to physically interact with their environment. Stable interaction can be guaranteed with any passive environment by designing the robot itself to behave like a passive system. Impedance control is a widely used technique in interaction control that in principle leads to a passive system, but lacks the capability of regulating the exact interaction wrench. The work of this thesis lies in enhancing the traditional impedance control approach, while remaining as much as possible within the energy-based paradigm. This leads to stable physical interaction with an unknown environment, but does not automatically lead to safe interaction. During an interaction task, unexpected contact loss poses a great risk to the UAV, especially in an uncertain environment. This work therefore has the additional goal of moving towards safer physical interaction. The designed control system is applied to a fully actuated aerial robot, which can be actuated in each of its six degrees of freedom, as opposed to underactuated systems such as quadrotors. Different unsafe scenarios are emulated in both ideal and more realistic simulations, to test the effectiveness and versatility of the proposed control system.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Systems and Control MSc (60359)
Link to this item:https://purl.utwente.nl/essays/81295
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