Description
Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence, 1st ed. 2023
Springer Tracts in Advanced Robotics Series, Vol. 151
Author: Tomić Teodor
Language: EnglishSubject for Model-Based Control of Flying Robots for Robust...:
Approximative price 105.49 €
In Print (Delivery period: 15 days).
Add to cart the book of Tomić TeodorPublication date: 10-2023
156 p. · 15.5x23.5 cm · Paperback
Approximative price 126.59 €
In Print (Delivery period: 15 days).
Add to cart the book of Tomić TeodorPublication date: 10-2022
156 p. · 15.5x23.5 cm · Hardback
Description
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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.
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