國立虎尾科技大學 |

Design and Control of Next-Generation UAVs for Effectively Interacting with Environments.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Design and Control of Next-Generation UAVs for Effectively Interacting with Environments./
Author:	Ding, Caiwu.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2022,
Description:	121 p.
Notes:	Source: Dissertations Abstracts International, Volume: 84-02, Section: B.
Contained By:	Dissertations Abstracts International84-02B.
Subject:	Robotics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28771017
ISBN:	9798841745778

Design and Control of Next-Generation UAVs for Effectively Interacting with Environments.
Ding, Caiwu.

Design and Control of Next-Generation UAVs for Effectively Interacting with Environments. - Ann Arbor : ProQuest Dissertations & Theses, 2022 - 121 p.

Source: Dissertations Abstracts International, Volume: 84-02, Section: B.

Thesis (Ph.D.)--New Jersey Institute of Technology, 2022.

This item must not be sold to any third party vendors.

In this dissertation, the design and control of a novel multirotor for aerial manipulation is studied, with the aim of endowing the aerial vehicle with more degrees of freedom of motion and stability when interacting with the environments. Firstly, it presents an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. The effectiveness of this method is demonstrated through simulation. Secondly, a humanoid robot arm is adopted to serve as a 6-degree-of-freedom (DOF) automated flight testing platform for emulating the free flight environment of UAVs while ensuring safety. Another novel multirotor in a tilt-rotor architecture is studied and tested for coping with parametric uncertainties in aerial maneuvering and manipulation. Two pairs of rotors are mounted on two independently-controlled tilting arms placed at two sides of the vehicle in a "H" configuration to enhance its maneuverability and stability through an adaptive robust control method. In addition, an impedance control algorithm is deployed in the out loop that modifies the trajectory to achieve a compliant behavior in the end-effector space for aerial drilling and screwing tasks.

ISBN: 9798841745778Subjects--Topical Terms:

561941
Robotics.
Subjects--Index Terms:

Automation

Design and Control of Next-Generation UAVs for Effectively Interacting with Environments.
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300 $a 121 p.
500 $a Source: Dissertations Abstracts International, Volume: 84-02, Section: B.
500 $a Advisor: Lu, Lu.
502 $a Thesis (Ph.D.)--New Jersey Institute of Technology, 2022.
506 $a This item must not be sold to any third party vendors.
520 $a In this dissertation, the design and control of a novel multirotor for aerial manipulation is studied, with the aim of endowing the aerial vehicle with more degrees of freedom of motion and stability when interacting with the environments. Firstly, it presents an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. The effectiveness of this method is demonstrated through simulation. Secondly, a humanoid robot arm is adopted to serve as a 6-degree-of-freedom (DOF) automated flight testing platform for emulating the free flight environment of UAVs while ensuring safety. Another novel multirotor in a tilt-rotor architecture is studied and tested for coping with parametric uncertainties in aerial maneuvering and manipulation. Two pairs of rotors are mounted on two independently-controlled tilting arms placed at two sides of the vehicle in a "H" configuration to enhance its maneuverability and stability through an adaptive robust control method. In addition, an impedance control algorithm is deployed in the out loop that modifies the trajectory to achieve a compliant behavior in the end-effector space for aerial drilling and screwing tasks.
590 $a School code: 0152.
650 4 $a Robotics. $3 561941
650 4 $a Mechanical engineering. $3 557493
653 $a Automation
653 $a Control
653 $a Optimization
653 $a Robotics
653 $a System dynamics
653 $a UAV
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710 2 $a New Jersey Institute of Technology. $b Department of Mechanical and Industrial Engineering. $3 1413425
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793 $a English
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