Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach

Ramy Rashad; Johan B.C. Engelen; Stefano Stramigioli

doi:10.1109/ICRA.2019.8793939

Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach

Ramy Rashad
, Johan B.C. Engelen
, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

49 Scopus citations

Abstract

In this work, we show how the interactive behavior of an aerial robot can be modeled and controlled effectively and elegantly in the port-Hamiltonian framework. We present an observer-based wrench/impedance controller for a fully-actuated hexarotor. The analysis and control are performed in a geometrically consistent manner on the configuration manifold of the special Euclidean group SE (3) such that the UAV's nonlinear geometric structure is exploited. The controller uses a wrench observer to estimate the interaction wrench without the use of a force/torque sensor. Moreover, the concept of energy tanks is used to guarantee the system's overall contact stability to arbitrary passive environments. The reliability and robustness of the proposed approach is validated through simulation and experiment.

Original language	English
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6418-6424
Number of pages	7
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8793939
State	Published - May 2019
Externally published	Yes
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

ASJC Scopus subject areas

Software
Control and Systems Engineering
Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1109/ICRA.2019.8793939

Cite this

Rashad, R., Engelen, J. B. C., & Stramigioli, S. (2019). Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 6418-6424). Article 8793939 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793939

Rashad, Ramy ; Engelen, Johan B.C. ; Stramigioli, Stefano. / Energy tank-based wrench/impedance control of a fully-actuated hexarotor : A geometric port-hamiltonian approach. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 6418-6424 (Proceedings - IEEE International Conference on Robotics and Automation).

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title = "Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach",

abstract = "In this work, we show how the interactive behavior of an aerial robot can be modeled and controlled effectively and elegantly in the port-Hamiltonian framework. We present an observer-based wrench/impedance controller for a fully-actuated hexarotor. The analysis and control are performed in a geometrically consistent manner on the configuration manifold of the special Euclidean group SE (3) such that the UAV's nonlinear geometric structure is exploited. The controller uses a wrench observer to estimate the interaction wrench without the use of a force/torque sensor. Moreover, the concept of energy tanks is used to guarantee the system's overall contact stability to arbitrary passive environments. The reliability and robustness of the proposed approach is validated through simulation and experiment.",

author = "Ramy Rashad and Engelen, \{Johan B.C.\} and Stefano Stramigioli",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

year = "2019",

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language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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Rashad, R, Engelen, JBC & Stramigioli, S 2019, Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793939, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 6418-6424, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8793939

Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach. / Rashad, Ramy; Engelen, Johan B.C.; Stramigioli, Stefano.
2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 6418-6424 8793939 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this work, we show how the interactive behavior of an aerial robot can be modeled and controlled effectively and elegantly in the port-Hamiltonian framework. We present an observer-based wrench/impedance controller for a fully-actuated hexarotor. The analysis and control are performed in a geometrically consistent manner on the configuration manifold of the special Euclidean group SE (3) such that the UAV's nonlinear geometric structure is exploited. The controller uses a wrench observer to estimate the interaction wrench without the use of a force/torque sensor. Moreover, the concept of energy tanks is used to guarantee the system's overall contact stability to arbitrary passive environments. The reliability and robustness of the proposed approach is validated through simulation and experiment.

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Rashad R, Engelen JBC, Stramigioli S. Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 6418-6424. 8793939. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2019.8793939

Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach

Abstract

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Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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Cite this