Position-based adaptive impedance control for a UAV (CROSBI ID 673158)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Car, Marko ; Ivanovic, Antun ; Orsag, Matko ; Bogdan, Stjepan
engleski
Position-based adaptive impedance control for a UAV
In this paper, we demonstrate a force tracking impedance control of a unmanned aerial vehicle's (UAV's) end effector, which is the foundation of compliant interaction with the environment. Using proposed scheme the UAV is able to accomplish physical interaction with the environment while maintaining a stable contact force. After introducing the impedance control, we address an issue of unknown environmental parameters. Here, we introduce the adaptive control which generates the reference position required to produce the desired contact force. Finally, the performance of impedance and adaptive impedance control for the UAV is analyzed through conducted simulation experiments.
Impedance , Force , Mathematical model , Manipulators , Adaptation models , Task analysis , Unmanned aerial vehicles
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Podaci o prilogu
957-963.
2018.
objavljeno
10.1109/icuas.2018.8453397
Podaci o matičnoj publikaciji
Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
International Conference on Unmanned Aircraft Systems (ICUAS)
predavanje
12.06.2018-15.06.2018
Dallas (TX), Sjedinjene Američke Države