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

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › 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.

Originalsprog	Engelsk
Titel	24th Mediterranean Conference on Control and Automation, MED 2016
Antal sider	7
Forlag	IEEE
Publikationsdato	5 aug. 2016
Sider	646-652
Artikelnummer	7535915
ISBN (Elektronisk)	978-1-4673-8345-5
DOI	https://doi.org/10.1109/MED.2016.7535915
Status	Udgivet - 5 aug. 2016
Begivenhed	24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Grækenland Varighed: 21 jun. 2016 → 24 jun. 2016

Konference

Konference	24th Mediterranean Conference on Control and Automation, MED 2016
Land/Område	Grækenland
By	Athens
Periode	21/06/2016 → 24/06/2016
Sponsor	MCA

Emneord

Control
Bond graph
Control approach
Control strategies
Ideal model
Physical interactions
Manipulators

Adgang til dokumentet

10.1109/MED.2016.7535915

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Citationsformater

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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. i 24th Mediterranean Conference on Control and Automation, MED 2016., 7535915, IEEE, s. 646-652, 24th Mediterranean Conference on Control and Automation, MED 2016, Athens, Grækenland, 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. s. 646-652 7535915.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - A comparison of control approaches for aerial manipulators handling physical impacts

AU - Bartelds, J. T.

AU - Wopereis, H. W.

AU - Stramigioli, S.

AU - Fumagalli, M.

PY - 2016/8/5

Y1 - 2016/8/5

N2 - 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.

AB - 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.

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

UR - http://www.scopus.com/inward/record.url?scp=84986232802&partnerID=8YFLogxK

U2 - 10.1109/MED.2016.7535915

DO - 10.1109/MED.2016.7535915

M3 - Article in proceeding

AN - SCOPUS:84986232802

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

Abstract

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