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Aerial Manipulator Interaction with the Environment

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Control of Autonomous Aerial Vehicles

Part of the book series: Advances in Industrial Control ((AIC))

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Abstract

This chapter investigates the problem of an aerial manipulator interacting with the environment. The chapter is split into two parts. The former considers an aerial device with tilting propellers that, thanks to a super-twisting slide mode controller, can control the interaction force for inspection task purposes. The latter proposes a hardware-in-the-loop simulator for human cooperation and environmental interaction with an aerial manipulator. This part includes the mathematical background and theoretical derivation with insights into the relative stability proofs. Simulations in a highly realistic environment endowed with a physics engine and real experiments validate both the proposed approaches.

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Notes

  1. 1.

    https://youtu.be/pJLFsVOek7M.

  2. 2.

    https://youtu.be/Ks261f6orMw.

  3. 3.

    https://github.com/prisma-lab/HIL_airmanip.

  4. 4.

    For additional details on the passivity concept, see [38, 39].

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Acknowledgements

The research leading to these results has been supported by both the AERIAL-CORE project, European Union’s Horizon 2020 research and innovation program, under Grant Agreement No 871479, and the AERO-TRAIN project, European Union’s Horizon 2020 research and innovation program under the Marie Skłodowska-Curie grant agreement No 953454. The authors are solely responsible for its content.

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Authors and Affiliations

  1. Università di Napoli “Federico II”, Naples, Italy

    Santos M. Orozco-Soto, Jonathan Cacace, Mario Selvaggio, Fabio Ruggiero, Vincenzo Lippiello & Bruno Siciliano

  2. ETH Zurich, Zurich, Switzerland

    Eugenio Cuniato

Authors
  1. Santos M. Orozco-Soto
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  2. Eugenio Cuniato
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  3. Jonathan Cacace
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  4. Mario Selvaggio
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  5. Fabio Ruggiero
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  6. Vincenzo Lippiello
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  7. Bruno Siciliano
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Corresponding author

Correspondence to Fabio Ruggiero .

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Editors and Affiliations

  1. Department of Industrial and Systems Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, USA

    Andrea L'Afflitto

  2. School of Aerospace, Transport and Manufacturing, Cranfield University, Cranfield, Bedfordshire, UK

    Gokhan Inalhan

  3. School of Aerospace, Transport and Manufacturing, Cranfield University, Cranfield, Bedfordshire, UK

    Hyo-Sang Shin

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Orozco-Soto, S.M. et al. (2024). Aerial Manipulator Interaction with the Environment. In: L'Afflitto, A., Inalhan, G., Shin, HS. (eds) Control of Autonomous Aerial Vehicles. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-031-39767-7_12

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  • DOI: https://doi.org/10.1007/978-3-031-39767-7_12

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  • Online ISBN: 978-3-031-39767-7

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