Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction.

Ran Jiao, Jianfeng Li, Yongfeng Rong, Taogang Hou

Abstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

4 authors.

Ran JiaoBeijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing 100124, China.ORCID 0000-0003-0067-6679

Jianfeng LiBeijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing 100124, China.ORCID 0000-0002-4338-6420

Yongfeng RongSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.

Taogang HouSchool of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China.

Funding

Beijing Postdoctoral Science Foundation Q6001013202201China Postdoctoral Science Foundation 2021M690337the Beijing Laboratory for Urban Mass Transit 353203535the Beijing Natural Science Foundation 3222016the Fundamental Research Funds for the Central Universities 2020JBM265the National Science Foundation of China 62103035the Young Elite Scientists Sponsorship Program by CAST 2022QNRC001

6 · The paper itself

Abstract

In this paper, the problem of a fully actuated hexarotor performing a physical interaction with the environment through a rigidly attached tool is considered. A nonlinear model predictive impedance control (NMPIC) method is proposed to achieve the goal in which the controller is able to simultaneously handle the constraints and maintain the compliant behavior. The design of NMPIC is the combination of a nonlinear model predictive control and impedance control based on the dynamics of the system. A disturbance observer is exploited to estimate the external wrench and then provide compensation for the model which was employed in the controller. Moreover, a weight adaptive strategy is proposed to perform the online tuning of the weighting matrix of the cost function within the optimal problem of NMPIC to improve the performance and stability. The effectiveness and advantages of the proposed method are validated by several simulations in different scenarios compared with the general impedance controller. The results also indicate that the proposed method opens a novel way for interaction force regulation.

Indexed as

Nonlinear DynamicsElectric Impedanceimpedance controlmodel predictive controlnonlinear controlphysical interactionunmanned aerial vehicle

Identifiers

PMID37299957

DOI10.3390/s23115231

PMCPMC10256048

What OpenQuestion holds

Textmetadata

LicenceCC BY

Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.