System Identification I

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L2 Gain And Passivity Techniques In Nonlinear Control

Aerial manipulation aims at combining the versatility and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well.

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Aerial Manipulation: A Literature Review

This paper presents aerial manipulation using a quadrotor with a two-DOF robot arm. By considering a quadrotor and robot arm as a combined system, the kinematic and dynamic models are developed, and an adaptive sliding mode controller is designed. With the controller, an autonomous flight experiment is conducted including picking up and delivering an object, which requires accurate control of a quadrotor and robot arm. Overall result shows that the proposed approach demonstrates satisfactory performance as a potential platform which can be utilized in various applications such as inspection, manipulation, or transportation in remote places.

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Aerial manipulation using a quadrotor with a two DOF robotic arm

Standard quadrotor unmanned aerial vehicles (UAVs) possess a limited mobility because of their inherent underactuation, that is, availability of four independent control inputs (the four propeller spinning velocities) versus the 6 degrees of freedom parameterizing the quadrotor position/orientation in space. Thus, the quadrotor pose cannot track arbitrary trajectories in space (e.g., it can hover on the spot only when horizontal). Because UAVs are more and more employed as service robots for interaction with the environment, this loss of mobility due to their underactuation can constitute a limiting factor. In this paper, we present a novel design for a quadrotor UAV with tilting propellers which is able to overcome these limitations. Indeed, the additional set of four control inputs actuating the propeller tilting angles is shown to yield full actuation to the quadrotor position/orientation in space, thus allowing it to behave as a fully actuated flying vehicle. We then develop a comprehensive modeling and control framework for the proposed quadrotor, and subsequently illustrate the hardware and software specifications of an experimental prototype. Finally, the results of several simulations and real experiments are reported to illustrate the capabilities of the proposed novel UAV design.

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A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation

This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction with the surrounding environment while remaining airborne. To investigate the dynamical model of the aerial manipulator, a simple planar benchmark is used to analyze the interactions between the quadrotor, the robotic manipulator, and the environment. A control strategy for the planar system is designed to guarantee robustness in the presence or absence of contacts. Experiments on a real setup validate the control in the two different scenarios in which the aerial manipulator is either freely flying or physically interacting with the environment.

Developing an Aerial Manipulator Prototype: Physical Interaction with the Environment

This work focuses on the modeling and control of an innovative configuration of aerial robot arising from the combination of a vertical take-off and landing aircraft and a robotic arm. The overall system, denoted as aerial manipulator, is able to accomplish operations requiring the physical interaction with the surrounding environment while remaining airborne. After introducing a detailed dynamical model, a control law, based on the impedance control paradigm, able to govern all the degrees of freedom of the system is proposed. The effectiveness of the proposed control algorithm are investigated also considering the case in which contacts with the surrounding environment are achieved.

Impedance control of an aerial manipulator

The paper deals with the problem of robust output regulation for minimum-phase nonlinear systems in a semiglobal setting. We present a different perspective to the problem of adaptive regulation in which prediction error identification methods, which are routinely used in other control contexts, can be adopted to design robust nonlinear regulators. The proposed control structure combines continuous-time dynamics and “hybrid identifiers”, the latter specifically designed to estimate the actual steady state control law. Besides presenting the main idea and a general framework, the paper addresses the specific case in which a linear regression law is used as model structure for the steady state control law and a least square optimization criterion is adopted as estimation method. The proposed framework encompasses existing frameworks proposed so far in the nonlinear continuous-time literature.

Robust nonlinear regulation: Continuous-time internal models and hybrid identifiers

The design, modeling, and control of a new class of modular aerial robots, obtained by rigidly interconnecting a number of ducted-fan aircraft, are presented in this paper. A remarkable feature of the proposed class of vehicles is the fact that different dynamical behaviors, ranging from underactuated to fully actuated, can be obtained by adopting a suitable interconnection topology. To exploit this variety of actuation scenarios, a combination of control allocation and feedback control algorithms is proposed. The control allocation module exploits actuator redundancy by identifying the directions in the input space that affect the vehicle dynamics, whereas the feedback controller provides stabilization of the actuated degrees of freedom over desired attitude and position trajectories. A physical prototype, realized by interconnecting two ducted-fan vehicles, is employed to experimentally demonstrate the effectiveness of the proposed methodology.

Modeling and Control of a Class of Modular Aerial Robots Combining Under Actuated and Fully Actuated Behavior

This video shows a special prototype of miniature aerial robot, the aerial manipulator, able to accomplish operations requiring the physical interaction with the surrounding environment while remaining completely airborne. The robot arises from the combination of a vertical take-off and landing aircraft, in particular a ducted-fan configuration, and a miniature robotic arm. The physical interaction relies on impedance control considerations. The control law is able to govern all the degrees of freedom of the system both in free-flight and during the interaction with the surrounding environment. In the latter case, the stability of the contact is robustly preserved. The video shows the robotic setup and the effectiveness of the proposed control algorithm in a real-world scenario.

Francesco Forte

Papers

Developing an Aerial Manipulator Prototype: Physical Interaction with the Environment

Impedance control of an aerial manipulator

Robust nonlinear regulation: Continuous-time internal models and hybrid identifiers

Modeling and Control of a Class of Modular Aerial Robots Combining Under Actuated and Fully Actuated Behavior

A prototype of aerial manipulator