Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering.
Ramy RashadFederico CalifanoStefano StramigioliPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- open loop
- unmanned aerial vehicles
- impedance control
- control system
- sliding mode
- force control
- physical world
- real world
- adaptive control
- real time
- control scheme
- control law
- control method
- visual feedback
- aerial imagery
- human computer interaction
- user interaction
- control algorithm
- optimal control
- path planning
- virtual space