TY  - BOOK
AU  - Yüksel,Burak
TI  - Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation
T2  - MPI Series in Biological Cybernetics Series
SN  - 9783832592530
AV  - TJ211.35 .D475 2017 
U1  - 629.892 
PY  - 2017///
CY  - Berlin
PB  - Logos Verlag Berlin
KW  - Robots-Control systems
KW  - Electronic books
N1  - Intro -- Abstract -- Deutsche Kurzfassung -- Introduction -- Aerial Robots -- VTOLs for Aerial Robotics -- Quadrotors -- Aerial Physical Interaction (APhI) -- Aerial Manipulation -- On the Control of Underactuated Aerial Robots for APhI and Manipulation -- Control of APhI -- Control of Aerial Manipulators -- Outline of this Thesis -- Open Problems and Contributions -- Quadrotor: Mathematical Model and Experimental Setup -- Quadrotor Model -- Simulation Setups of the Quadrotor -- Experimental Setup of the Quadrotor -- Hardware -- Software -- External Wrench Measurement and Estimation for an Aerial Robot -- Introduction -- Measurement of the External Wrench -- Estimation of the External Wrench -- Measurement vs Estimation -- Discussions -- Control of Aerial Physical Interaction using IDA-PBC -- Introduction -- Preliminaries -- Reshaping the Physical Properties of a Quadrotor for APhI -- Port-Hamiltonian Dynamics of a Quadrotor -- IDA-PBC of Quadrotors for Aerial Physical Interaction -- Total Energy Shaping -- Dissipation and External Wrench Shaping -- Using IDA-PBC for Turning Quadrotors into 3D Force Effectors -- Numerical and Experimental Results -- Numerical Validation -- Experimental Results -- Discussions -- Design of a Compliant Actuator for Aerial Physical Interaction and Manipulation -- Introduction -- Design of an Elastic-Joint Arm for Aerial Robots -- Identification and Control -- Parametric Identification -- Control of the Flexible-joint Arm -- Experimental Results -- Discussions -- Control of Aerial Manipulation using Differential Flatness and Exact Linearizability -- Introduction -- Relative Degree, Exact Linearization and Differential Flatness -- Aerial Manipulators with Single Joint-Arm -- Nomenclature and Objectives -- Review of Exact Output Tracking -- Methodology -- Case RG: Rigid-joint Attached to a Generic Point; Case RC: Rigid-joint Attached to the PVTOL CoM -- Case EG: Elastic-joint Attached to a Generic Point -- Case EC: Elastic-joint Attached to the PVTOL CoM -- Using Flatness for Optimal Trajectory Planning and Control -- Numerical Results -- Preliminary Experiments -- Discussions -- Protocentric Aerial Manipulators (PAMs) with Multiple Redundant Arms -- Case R: System Dynamics with Only Rigid Joints -- Case E: System Dynamics with Rigid and/or Elastic Joints -- Control for Case R -- Numerical Results -- Towards Control in 3D -- PAM in 3D -- Decentralized Flatness-Based Control -- Experimental Results -- Discussions -- Conclusions -- Technical Proofs -- Proof of Proposition 1 -- Proof of Proposition 2 -- Proof of Proposition 3 -- Proof of Proposition 4 -- Proof of Proposition 5 -- Proof of Proposition 6 -- Proof of Proposition 7 -- Proof of Proposition 8 -- Proof of Proposition 9 -- Proof of Proposition 10 -- Technical Computations -- Computation of the Inertia Matrix for (6.3.1) -- Computation of the Gravity and Coriolis Forces for (6.80) and (6.81) -- Computation of the Control Input Matrix for (6.83) -- Nonlinear Systems, Stability and Control -- Known Concepts for the Nonlinear Systems Stability -- Connections Between Different Stability Concepts -- Bibliography
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ER  -