Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence (eBook, PDF)
Teodor Tomic
eBook, PDF

Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence (eBook, PDF)

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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...

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