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• W1256176189 abstract "We propose a novel control framework to enable a quadrotor to operate a tool attached on it. We first show that any Cartesian control at the tool-tip can be generated if and only if the tool-tip is located strictly above or below the quadrotor’s center-of-mass. We then fully characterize the internal dynamics of the spatial quadrotor tool operation, which arises due to the quadrotor’s under-actuation, and elucidate a seemingly counter-intuitive necessary condition for the internal stability, that is, the tool-tip should be located above the quadrotor’s center-of-mass. We further manifest that this internal dynamics can exhibit finite-time escape and propose a stabilizing action to prevent that. The theory is then illustrated for the problems of rotating tool operation and hybrid force/position control with relevant simulation results." @default.
• W1256176189 created "2016-06-24" @default.
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• W1256176189 date "2015-11-01" @default.
• W1256176189 modified "2023-09-27" @default.
• W1256176189 title "Mechanics, control and internal dynamics of quadrotor tool operation" @default.
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• W1256176189 doi "https://doi.org/10.1016/j.automatica.2015.08.015" @default.
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