Nonlinear observer-based impedance control of a fully-actuated hexarotor for accurate aerial physical interaction

Chang Wang, Ran Jiao, Jianhua Zhang
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Abstract

Purpose

Fully-actuated unmanned aerial vehicles (UAVs) are a growing and promising field of research, which shows advantages for aerial physical interaction. The purpose of this paper is to construct a force sensor-denied control method for a fully-actuated hexarotor to conduct aerial interaction with accurate force exerted outward.

Design/methodology/approach

First, by extending single-dimension impedance model to the fully-actuated UAV model, an impedance controller is designed for compliant UAV pose/force control. Then, to estimate the interaction force between UAV end-effector and external environment accurately, combined with super-twisting theory, a nonlinear force observer is constructed. Finally, based on impedance controller and estimated force from observer, an interaction force regulation method is proposed.

Findings

The presented nonlinear observer-based impedance control approach is validated in both simulation and environments, in which the authors try to use a fully-actuated hexarotor to accomplish the task of aerial physical interaction finding that a specified force is able to be exerted to environment without any information from force sensors.

Originality/value

A solution of aerial physical interaction for UAV system enabling accurate force exerted outward without any force sensors is proposed in this paper.

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基于非线性观测器的全动六轮电机阻抗控制,实现精确的空中物理交互
目的全动无人飞行器(UAV)是一个不断发展且前景广阔的研究领域,在空中物理交互方面显示出优势。本文的目的是为全动六旋翼无人飞行器构建一种力传感器忽略控制方法,以实现精确的向外施力的空中交互。设计/方法/途径首先,通过将单维度阻抗模型扩展到全动无人飞行器模型,设计了一种阻抗控制器,用于顺应无人飞行器的姿态/力控制。然后,为了准确估计无人机末端执行器与外部环境之间的相互作用力,结合超扭曲理论,构建了一个非线性力观测器。研究结果本文提出的基于非线性观测器的阻抗控制方法在仿真和环境中都得到了验证,作者尝试使用全动六旋翼飞行器来完成空中物理交互任务,发现在没有任何力传感器信息的情况下,也能向环境施加指定的力。
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