Hussein N. Naser

Adaptive Gain Nonlinear Observer for External Wrench Estimation in Human-UAV Physical Interaction

This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full nonlinear dynamic model to achieve an accurate and robust wrench …