Johan B. C. Engelen

Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor: A Geometric Port-Hamiltonian Approach

In this work, we show how the interactive behavior of an aerial robot can be modeled and controlled effectively and elegantly in the port-Hamiltonian framework. We present an observer-based wrench/impedance controller for a fully-actuated hexarotor. The analysis and control are performed in a geomet…