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

Name: Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence
Brand: Springer, Berlin
SKU: 9783031153952
Price: 549.92 RON
Availability: InStock

Autor: Teodor Tomic

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Legare: Carte broșată

Editura: Springer, Berlin

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This book addresses the topic of autonomous flying robots physically interacting with the environmen...

Informații despre carte

Autor

Teodor Tomic

Limbă

engleză

Legare

Carte - Carte broșată

Publicat

2023

Pagini

156

EAN

9783031153952

Enbook ID

44205290

Editura

Springer, Berlin

Greutate

309

Dimensiuni

155 x 235

Descriere completă

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.

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

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Descriere completă

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