Pregled bibliografske jedinice broj: 986304
Position-based adaptive impedance control for a UAV
Position-based adaptive impedance control for a UAV // International Conference on Unmanned Aircraft Systems (ICUAS)
Dallas (TX), Sjedinjene Američke Države: Institute of Electrical and Electronics Engineers (IEEE), 2018. str. 957-963 doi:10.1109/icuas.2018.8453397 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 986304 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Position-based adaptive impedance control for a UAV
Autori
Car, Marko ; Ivanovic, Antun ; Orsag, Matko ; Bogdan, Stjepan
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Skup
International Conference on Unmanned Aircraft Systems (ICUAS)
Mjesto i datum
Dallas (TX), Sjedinjene Američke Države, 12.06.2018. - 15.06.2018
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Impedance , Force , Mathematical model , Manipulators , Adaptation models , Task analysis , Unmanned aerial vehicles
Sažetak
In this paper, we demonstrate a force tracking impedance control of a unmanned aerial vehicle's (UAV's) end effector, which is the foundation of compliant interaction with the environment. Using proposed scheme the UAV is able to accomplish physical interaction with the environment while maintaining a stable contact force. After introducing the impedance control, we address an issue of unknown environmental parameters. Here, we introduce the adaptive control which generates the reference position required to produce the desired contact force. Finally, the performance of impedance and adaptive impedance control for the UAV is analyzed through conducted simulation experiments.
Izvorni jezik
Engleski
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
