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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...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2023
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| Materias: | |
| 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 |