Underactuation Problems for Unmanned Aerial Vehicles and Robotic Nonprehensile Manipulation PhD...
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Underactuation Problems for Unmanned Aerial Vehicles and Robotic Nonprehensile Manipulation PhD student: Diana Serra XXIX Cycle - I year presentation Tutor: Prof. Vincenzo Lippiello
Underactuation Problems for Unmanned Aerial Vehicles and Robotic Nonprehensile Manipulation PhD student: Diana Serra XXIX Cycle - I year presentation Tutor:
Underactuation Problems for Unmanned Aerial Vehicles and
Robotic Nonprehensile Manipulation PhD student: Diana Serra XXIX
Cycle - I year presentation Tutor: Prof. Vincenzo Lippiello
Slide 2
Short bio Master Degree in Automation Engineering Member of the
DIETI robotics PRISMA group Fellowship funded by CREATE consortium
on Robot Control for Dynamic Manipulation Involved in the RODYMAN
project (RObotic DYnamic MANipulation) XXIX Cycle - I year
presentation
Slide 3
An underactuated system has a lower number of actuators than
the degrees of freedom. It is not possible to control all the
configuration space directly. Typically one input must control
several degrees of freedom simultaneously. The underactuated
problems that I am investigating: Emergency landing for a quadrotor
UAV with a motor failure. Ball and plate nonprehensile manipulation
task. Underactuated systems XXIX Cycle - I year presentation
Slide 4
Quadrotor: 4 motors to control 6 degrees of freedom. Typically
two nested control loops are used to control this aerial vehicle. A
motor failure reduces the control actions: additional
underactuation. Assume that the fault has been detected and
identified. The motor opposite to the broken one is turned off. The
birotor starts spinning around its vertical axis. Main
contributions: 1.A PID based control approach: demonstration of GAS
for controlled variables. 2.A backstepping control approach for
translational movements. Emergency landing for a quadrotor UAV XXIX
Cycle - I year presentation
Slide 5
A PID control approach. Lyapunov theory for perturbed systems
is used to combine the analysis of the stability of two indipendent
subsystems (position and orientation) and the knowledge about the
perturbation. Global asymptotic stability of the error dynamics has
been demonstrated. A backstepping control approach for
translational movements. The projection of the birotor spinning
vertical axis into the xy-plane is controlled. Marginal stability
is demonstrated using a proper Lyapunov function. Simulation tests
are employed to validate the proposed controllers. Emergency
landing for a quadrotor UAV XXIX Cycle - I year presentation
Slide 6
Emergency landing for a quadrotor UAV XXIX Cycle - I year
presentation
Slide 7
Nonprehensile manipulation tasks do not involve grasp: it
extends the set of robotic tasks. It actively uses the task
dynamics to control motion variables of an object: rolling,
sliding, free flight, breaking/making contacts are allowed. The
specific task: To control the ball position and orientation through
the rolling motion obtained moving the plate. Only 2 inputs to
control 5 state variables: underactuation. Nonholonomic rolling
constraint. Ball and plate nonprehensile manipulation task XXIX
Cycle - I year presentation
Slide 8
Models developed: 1.Kinematic model using quaternions, avoiding
local charts. 2.Dynamic model with a Lagrangian approach. Reduced
to normal form equations with a nontrivial drift field. Smooth and
continuous stabilizing feedbacks do not exist: Piecewise smooth
control approaches must be investigated. Property of the system:
Small time local controllability. Local maneuvers steer the system
between two sufficiently close states. Ball and plate nonprehensile
manipulation task XXIX Cycle - I year presentation
Slide 9
Slide 10
International conferences V. Lippiello, F. Ruggiero, D. Serra,
Emergency Landing for a Quadrotor in Case of a Propeller Failure: A
Backstepping Approach, 2014 IEEE/RSJ International Conference on
Intelligent Robots and Systems, pp. 4782-4788, 2014. V. Lippiello,
F. Ruggiero, D. Serra, Emergency Landing for a Quadrotor in Case of
a Propeller Failure: A PID Based Approach, IEEE International
Symposium on Safety, Security, and Rescue Robotics, 2014.
Publications XXIX Cycle - I year presentation
Slide 11
Summary of the training activity XXIX Cycle - I year
presentation