Towards human-UAV physical interaction and fully actuated aerial vehicles /

Long description: Unmanned Aerial Vehicles' (UAVs) ability to reach places not accessible to humans or other robots and execute tasks makes them unique and is gaining a lot of research interest recently. Initially UAVs were used as surveying and data collection systems, but lately UAVs are also...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Rajappa, Sujit (Autor)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Berlin : Logos Verlag, [2018]
Colección:MPI series in biological cybernetics ; no. 52.
Temas:
Drone aircraft.
Human engineering.
Ergonomics
Unmanned Aerial Devices
Drones.
Ergonomie.
drone airplanes.
ergonomics.
Drone aircraft
Human engineering
Acceso en línea:Texto completo
Tabla de Contenidos:
  • Intro; 1 Introduction; 1.1 Aerial Robotics for Civilian Purpose; 1.2 UAV Platform; 1.3 Motivation; 1.4 Characteristics and Challenges; 1.5 Objectives and Outline of the Thesis; 2 External Wrench Estimation; 2.1 Introduction; 2.1.1 Related Works; 2.1.2 Methodologies; 2.2 Preliminary System Descriptions; 2.2.1 Model of the External Wrench; 2.3 External Wrench (Force/Torque) Observer; 2.4 Disturbance Compensator in Near-Hovering Control; 2.4.1 Standard near-hovering control; 2.4.2 Calculation of roll (fc) and pitch (qc) compensation; 2.5 Simulations and Analysis
  • 2.5.1 Hovering with constant wind disturbance2.5.2 Hovering with varying wind disturbance; 2.5.3 Trajectory Tracking with constant wind disturbance; 2.5.4 Trajectory Tracking with varying wind disturbance; 2.6 Experimental Validation; 2.6.1 Force Estimation Experiment; 2.6.2 Torque Estimation Experiment; 2.7 Discussions and Possible Extensions; 3 Novel Architecture for Human-UAV Physical Interaction; 3.1 Introduction; 3.1.1 Related works; 3.1.2 Methodologies; 3.2 Problem Setting; 3.2.1 Preliminary System Descriptions; 3.2.2 Extended Model of the External Wrench; 3.2.3 Force/Torque detectors
  • 3.3 System Architecture3.4 Hardware-Software Design; 3.5 Estimation of the External, Interactive and Disturbance Wrenches; 3.5.1 Estimation of the External Wrench; 3.5.2 Estimation of the disturbance and interaction wrenches; 3.6 Control; 3.6.1 Admittance Control; 3.6.2 Trajectory Tracking Control with Wrench Feedforward; 3.7 Hardware-in-the-loop Physical Simulations; 3.8 Experimental Validation; 3.8.1 Continuously Pushing, Sudden Impact and Multiple PoCs; 3.8.2 Trajectory tracking during human interaction with varying stiffness; 3.9 Discussions and Possible Extensions
  • 4 Robust Adaptive Super Twisting Control4.1 Introduction; 4.1.1 Related Works; 4.1.2 Methodologies; 4.2 Preliminary System Descriptions; 4.2.1 Dynamic System Model; 4.2.2 Regular Control Form; 4.2.3 Uncertainties; 4.3 Control; 4.3.1 Adaptive Super Twisting Control; 4.3.2 Feedforward Control; 4.4 Physical Simulations; 4.4.1 Experimental Setup; 4.4.2 Robustness of ASTC; 4.4.3 Comparison of ASTC and STC; 4.5 Discussions and Possible Extensions; 5 Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers; 5.1 Introduction; 5.1.1 Related Works; 5.1.2 Methodologies; 5.2 Design and Modeling
  • 5.2.1 Static System Description5.2.2 Equations of Motion; 5.3 Control Design; 5.3.1 Exact Feedback Linearization and Decoupling Control; 5.4 A Preliminary Prototype; 5.4.1 Discussion on the Invertibility of J(ah; bh); 5.4.2 Optimization of ah and bh; 5.5 Simulations and Analysis; 5.5.1 Reorienting while hovering with external disturbance; 5.5.2 6 DoF trajectory tracking; 5.6 Hexarotor Prototype; 5.6.1 Hardware; 5.6.2 Software; 5.7 Experimental Validation; 5.7.1 Hovering and Reorienting; 5.7.2 6 DoF Trajectory Tracking; 5.8 Discussions and Possible Extensions
  • 6 Human-UAV Physical Interaction with a Fully Actuated UAV

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