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Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence

  • Book
  • © 2023

Overview

Authors:
  1. Teodor Tomić

    1. San Francisco, USA

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  • Presents state-of-the-art research in the field of aerial robots
  • Bridges the gap between trajectory tracking and interaction control for flying robots
  • Develops and applies a systematic parameter identification procedure for aerial robots

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 151)

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Table of contents (7 chapters)

  1. Front Matter

    Pages i-xx
    Download chapter PDF

  2. Introduction

    • Teodor Tomić
    Pages 1-22

  3. Modeling

    • Teodor Tomić
    Pages 23-39

  4. Tracking and Interaction Control

    • Teodor Tomić
    Pages 41-67

  5. Wind Estimation

    • Teodor Tomić
    Pages 69-97

  6. Force Discrimination

    • Teodor Tomić
    Pages 99-129

  7. Applications and Outlook

    • Teodor Tomić
    Pages 131-151

  8. Conclusion

    • Teodor Tomić
    Pages 153-156
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Keywords

About this book

This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.

Authors and Affiliations

  • San Francisco, USA

    Teodor Tomić

Bibliographic Information

  • Book Title: Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence

  • Authors: Teodor Tomić

  • Series Title: Springer Tracts in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-031-15393-8

  • Publisher: Springer Cham

  • eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)

  • Copyright Information: Springer Nature Switzerland AG 2023

  • Hardcover ISBN: 978-3-031-15392-1Published: 08 October 2022

  • Softcover ISBN: 978-3-031-15395-2Published: 09 October 2023

  • eBook ISBN: 978-3-031-15393-8Published: 07 October 2022

  • Series ISSN: 1610-7438

  • Series E-ISSN: 1610-742X

  • Edition Number: 1

  • Number of Pages: XX, 156

  • Number of Illustrations: 31 b/w illustrations, 70 illustrations in colour

  • Topics: Robotics and Automation, Robotics

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