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Contact transition control with acceleration feedback enhancement for a quadrotor
Yi K(易奎)1,2,3; Han JD(韩建达)4,5; Liang X(梁潇)4,5; He YQ(何玉庆)1,2
Department机器人学研究室
Source PublicationISA Transactions
ISSN0019-0578
2020
Pages1-7
Indexed ByEI
EI Accession number20204409423891
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China under Grant 91848203, U1608253 and 61433016 ; Science and Technology Planning Project of Guangdong Province, China under Grant 2017B010116002.
KeywordContact transition Acceleration feedback Different-stiffness environment Quadrotor Stable contact
Abstract

A stable transition from free-motion to contact phase is extremely significant for a UAV interacting with its objects and environment. Oscillations may occur at the contact point if the force controller of the UAV fails to accommodate to the environment parameters, which are usually unknown to the UAV. In this paper, the acceleration feedback control is proposed to enhance the robustness of a classic force controller. This intends to achieve a smooth and stable contact transition of the UAV while interacting with different stiffness environments with non-zero approaching velocity. Extensive flight tests are conducted on a quadrotor UAV to verify the performance of the proposed algorithm with respect to different-stiffness environments. The experimental results are also compared with those without the acceleration feedback enhancement, to demonstrate the improvement of the proposed scheme.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27844
Collection机器人学研究室
Corresponding AuthorHan JD(韩建达)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin 300350, China
5.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China
Recommended Citation
GB/T 7714
Yi K,Han JD,Liang X,et al. Contact transition control with acceleration feedback enhancement for a quadrotor[J]. ISA Transactions,2020:1-7.
APA Yi K,Han JD,Liang X,&He YQ.(2020).Contact transition control with acceleration feedback enhancement for a quadrotor.ISA Transactions,1-7.
MLA Yi K,et al."Contact transition control with acceleration feedback enhancement for a quadrotor".ISA Transactions (2020):1-7.
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