کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6867516 | 680432 | 2015 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench (forces plus moments) acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects. This arrangement allows VToL UAVs to perform hovering, tracking and aerial manipulation tasks in unstructured environments. A rigorous stability proof is provided under certain assumptions. Experiments are presented to evaluate the performance of the proposed control design.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 72, October 2015, Pages 139-151
Journal: Robotics and Autonomous Systems - Volume 72, October 2015, Pages 139-151
نویسندگان
Fabio Ruggiero, Jonathan Cacace, Hamid Sadeghian, Vincenzo Lippiello,