Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction

In this paper, the problem of a fully actuated hexarotor performing a physical interaction with the environment through a rigidly attached tool is considered. A nonlinear model predictive impedance control (NMPIC) method is proposed to achieve the goal in which the controller is able to simultaneous...

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Detalles Bibliográficos
Autores principales: Jiao, Ran, Li, Jianfeng, Rong, Yongfeng, Hou, Taogang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10256048/
https://www.ncbi.nlm.nih.gov/pubmed/37299957
http://dx.doi.org/10.3390/s23115231

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10256048/
https://www.ncbi.nlm.nih.gov/pubmed/37299957
http://dx.doi.org/10.3390/s23115231

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