A novel disturbance device for aerial manipulation experiments
conference contribution
posted on 2023-06-06, 10:21 authored by Ben Marshall, James KnowlesJames Knowles, Yunda Yan, Cunjia LiuCunjia LiuIn the last decade, UAVs endowed with manipulators have increased in their ability to complete complex tasks such as manipulating doors and drawers. Very recent work also includes tasks with non-constant dynamics such as pushing a cart along a surface with a change in friction coefficient or pulling an electrical plug from a socket. These tasks are hard to design and compare controllers for because their dynamics are complex and they may not behave consistently. This paper proposes a tunable and repeatable mechanism for use in experiments that compare different controller designs. The proposed mechanism, called an overcentre mechanism, can provide a nonlinear resistive force and can be easily modified for different force magnitudes. Additionally, it can be quickly re-oriented to disturb altitude or position channels for vehicles with or without manipulators. This paper experimentally compares three traditional observer designs and a baseline controller in two different operating conditions.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
2023 IEEE International Conference on Mechatronics (ICM)Source
2023 IEEE International Conference on Mechatronics (ICM)Publisher
IEEEVersion
- AM (Accepted Manuscript)
Rights holder
© IEEEPublisher statement
© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Publication date
2023-04-17Copyright date
2023ISBN
9781665466615Publisher version
Language
- en
Depositor
Ben Marshall. Deposit date: 5 June 2023Usage metrics
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