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Model-based control of flying robots...

Tomić, Teodor.

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Model-based control of flying robots for robust interaction under wind influence

Record Type:	Electronic resources : Monograph/item
Title/Author:	Model-based control of flying robots for robust interaction under wind influence/ by Teodor Tomić.
Author:	Tomić, Teodor.
Published:	Cham :Springer International Publishing : : 2023.,
Description:	xx, 156 p. :ill. (some col.), digital ;24 cm.
[NT 15003449]:	Introduction -- Modeling -- Tracking and interaction control -- Wind estimation -- Force discrimination -- Applications and outlook -- Conclusion.
Contained By:	Springer Nature eBook
Subject:	Drone aircraft - Aerodynamics. -
Online resource:	https://doi.org/10.1007/978-3-031-15393-8
ISBN:	9783031153938

Model-based control of flying robots for robust interaction under wind influence
Tomić, Teodor.

Model-based control of flying robots for robust interaction under wind influence[electronic resource] /by Teodor Tomić. - Cham :Springer International Publishing :2023. - xx, 156 p. :ill. (some col.), digital ;24 cm. - Springer tracts in advanced robotics,v. 1511610-742X ;. - Springer tracts in advanced robotics ;v. 151..

Introduction -- Modeling -- Tracking and interaction control -- Wind estimation -- Force discrimination -- Applications and outlook -- Conclusion.

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.

ISBN: 9783031153938

Standard No.: 10.1007/978-3-031-15393-8doiSubjects--Topical Terms:

3626712
Drone aircraft
--Aerodynamics.

LC Class. No.: TL685.35

Dewey Class. No.: 629.13339

Model-based control of flying robots for robust interaction under wind influence
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505 0 $a Introduction -- Modeling -- Tracking and interaction control -- Wind estimation -- Force discrimination -- Applications and outlook -- Conclusion.
520 $a 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.
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