A comparison of control approaches for aerial manipulators handling physical impacts

J. T. Bartelds; H. W. Wopereis; S. Stramigioli; M. Fumagalli

doi:10.1109/MED.2016.7535915

A comparison of control approaches for aerial manipulators handling physical impacts

J. T. Bartelds, H. W. Wopereis, S. Stramigioli, M. Fumagalli

Robotics and Automation

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

Abstract

This paper presents and compares different control strategies for aerial manipulators to handle highly dynamic physical interaction with the environment. These control strategies are compared in simulation utilizing an ideal model developed using the bond graph representation. Simulation results are presented to demonstrate the effectiveness of and the differences between the proposed solutions.

Original language	English
Title of host publication	24th Mediterranean Conference on Control and Automation, MED 2016
Number of pages	7
Publisher	IEEE
Publication date	5 Aug 2016
Pages	646-652
Article number	7535915
ISBN (Electronic)	978-1-4673-8345-5
DOIs	https://doi.org/10.1109/MED.2016.7535915
Publication status	Published - 5 Aug 2016
Event	24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece Duration: 21 Jun 2016 → 24 Jun 2016

Conference

Conference	24th Mediterranean Conference on Control and Automation, MED 2016
Country/Territory	Greece
City	Athens
Period	21/06/2016 → 24/06/2016
Sponsor	MCA

Keywords

Manipulator dynamics
Unmanned aerial vehicles
Force
Attitude control
Aerodynamics
Vehicle dynamics

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10.1109/MED.2016.7535915

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Cite this

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title = "A comparison of control approaches for aerial manipulators handling physical impacts",

abstract = "This paper presents and compares different control strategies for aerial manipulators to handle highly dynamic physical interaction with the environment. These control strategies are compared in simulation utilizing an ideal model developed using the bond graph representation. Simulation results are presented to demonstrate the effectiveness of and the differences between the proposed solutions.",

keywords = "Control, Bond graph, Control approach, Control strategies, Ideal model, Physical interactions, Manipulators, Manipulator dynamics, Unmanned aerial vehicles, Force, Attitude control, Aerodynamics, Vehicle dynamics",

author = "Bartelds, {J. T.} and Wopereis, {H. W.} and S. Stramigioli and M. Fumagalli",

year = "2016",

month = aug,

day = "5",

doi = "10.1109/MED.2016.7535915",

language = "English",

pages = "646--652",

booktitle = "24th Mediterranean Conference on Control and Automation, MED 2016",

publisher = "IEEE",

address = "United States",

note = "24th Mediterranean Conference on Control and Automation, MED 2016 ; Conference date: 21-06-2016 Through 24-06-2016",

}

Bartelds, JT, Wopereis, HW, Stramigioli, S & Fumagalli, M 2016, A comparison of control approaches for aerial manipulators handling physical impacts. in 24th Mediterranean Conference on Control and Automation, MED 2016., 7535915, IEEE, pp. 646-652, 24th Mediterranean Conference on Control and Automation, MED 2016, Athens, Greece, 21/06/2016. https://doi.org/10.1109/MED.2016.7535915

A comparison of control approaches for aerial manipulators handling physical impacts. / Bartelds, J. T.; Wopereis, H. W.; Stramigioli, S. et al.
24th Mediterranean Conference on Control and Automation, MED 2016. IEEE, 2016. p. 646-652 7535915.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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AU - Wopereis, H. W.

AU - Stramigioli, S.

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KW - Control

KW - Bond graph

KW - Control approach

KW - Control strategies

KW - Ideal model

KW - Physical interactions

KW - Manipulators

KW - Manipulator dynamics

KW - Unmanned aerial vehicles

KW - Force

KW - Attitude control

KW - Aerodynamics

KW - Vehicle dynamics

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M3 - Article in proceeding

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SP - 646

EP - 652

BT - 24th Mediterranean Conference on Control and Automation, MED 2016

PB - IEEE

T2 - 24th Mediterranean Conference on Control and Automation, MED 2016

Y2 - 21 June 2016 through 24 June 2016

ER -

A comparison of control approaches for aerial manipulators handling physical impacts

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Keywords

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