Quadrotor UAV: collision resilience behaviors

• Main Authors: Fan, Dadong, Guo, Kexin, Lyu, Shangke, Yu, Xiang, Xie, Lihua, Guo, Lei
• 其他作者: School of Electrical and Electronic Engineering
• 格式: Article
• 語言: English
• 出版: 2023
• 主題: Engineering::Electrical and electronic engineering; Collision Resilience; Nonlinear Disturbance Observer
• 在線閱讀: https://hdl.handle.net/10356/170683
• 機構: Nanyang Technological University

In this article, a safety control scheme for quadrotor is proposed to guarantee collision resilience like flying insects. The direction and magnitude of contact wrench are quantitatively analyzed subject to the compliant contact wrench model. A nonlinear disturbance observer is developed to estimate...