| 书目名称 | Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence |
| 编辑 | Teodor Tomić |
| 视频video | |
| 概述 | Presents state-of-the-art research in the field of aerial robots.Bridges the gap between trajectory tracking and interaction control for flying robots.Develops and applies a systematic parameter ident |
| 丛书名称 | Springer Tracts in Advanced Robotics |
| 图书封面 |  |
| 描述 | .This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.. |
| 出版日期 | Book 2023 |
| 关键词 | flying robots; interaction control; fault detection and identification; aerial robots; tracking; Wind est |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-031-15393-8 |
| isbn_softcover | 978-3-031-15395-2 |
| isbn_ebook | 978-3-031-15393-8Series ISSN 1610-7438 Series E-ISSN 1610-742X |
| issn_series | 1610-7438 |
| copyright | Springer Nature Switzerland AG 2023 |
发表于 2025-3-21 16:49:15
