Quadrotor UAV: collision resilience behaviors

• المؤلفون الرئيسيون: Fan, Dadong, Guo, Kexin, Lyu, Shangke, Yu, Xiang, Xie, Lihua, Guo, Lei
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2023
• الموضوعات: Engineering::Electrical and electronic engineering; Collision Resilience; Nonlinear Disturbance Observer
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/170683
• المؤسسة: 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...