Abstract
Now that the dynamics and aerodynamic models have been identified, the problem of discriminating between the terms of the external wrench acting on the robot is investigated. In this chapter, several novel methods for input discrimination are presented in the context of the awareness pipeline presented in [11]. The awareness pipeline is a generalization of Fault Detection, Identification and Isolation [6, 7].
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Tomić, T. (2023). Force Discrimination. In: Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence. Springer Tracts in Advanced Robotics, vol 151. Springer, Cham. https://doi.org/10.1007/978-3-031-15393-8_5
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DOI: https://doi.org/10.1007/978-3-031-15393-8_5
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