D'Angelo, Simone (2024) Control techniques for tilting unmanned aerial manipulators for in-contact non-destructive testing. [Tesi di dottorato]
![[thumbnail of Simone_DAngelo_ITEE_PhD_37cycle_Thesis.pdf]](https://www.fedoa.unina.it/style/images/fileicons/other.png "Simone_DAngelo_ITEE_PhD_37cycle_Thesis.pdf") |
Documento PDF
Simone_DAngelo_ITEE_PhD_37cycle_Thesis.pdf Visibile a [TBR] Amministratori dell'archivio Download (49MB) | Richiedi una copia |
| Tipologia del documento: | Tesi di dottorato |
|---|---|
| Lingua: | English |
| Titolo: | Control techniques for tilting unmanned aerial manipulators for in-contact non-destructive testing |
| Autori: | Autore Email D'Angelo, Simone simone.dangelo@unina.it |
| Data: | 12 Dicembre 2024 |
| Numero di pagine: | 144 |
| Istituzione: | Università degli Studi di Napoli Federico II |
| Dottorato: | Information technology and electrical engineering |
| Ciclo di dottorato: | 37 |
| Coordinatore del Corso di dottorato: | nome email Russo, Stefano stefano.russo@unina.it |
| Tutor: | nome email Siciliano, Bruno [non definito] Ruggiero, Fabio [non definito] |
| Data: | 12 Dicembre 2024 |
| Numero di pagine: | 144 |
| Parole chiave: | Unmanned Aerial Vehicle, Aerial Manipulation, Physical Interaction, System Integration, Modelling and Control |
| Settori scientifico-disciplinari del MIUR: | Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica |
| Informazioni aggiuntive: | Dottorando di ricerca in Information Technology and Electrical Engineering (ITEE) XXXVII (37) ciclo |
| Depositato il: | 28 Dic 2024 10:31 |
| Ultima modifica: | 12 Ago 2026 05:38 |
| URI: | https://www.fedoa.unina.it/id/eprint/16516 |
Abstract
This PhD thesis focuses on the development and implementation of advanced control methods for aerial manipulators equipped with tilting motors, intended for performing Non-Destructive Test in contact with the environment. The main objective is to guarantee a safe, stable, and precise interaction between the tool mounted on board the manipulator and the inspected surface, even in the presence of external perturbations and variations in environmental conditions. Various force control strategies are proposed and analyzed during the discussion. Among these, indirect, direct, and hybrid control approaches are distinguished. Indirect control exploits system dynamics models to adjust the drone's position and ensure the correct application of force. On the other hand, direct control relies on direct measurements of the interaction force to adjust the motors' thrust in real-time. Hybrid approaches combine the advantages of both, optimizing performance in terms of precision and dynamic response. This thesis focuses on the use of two main aerial platforms, equipped with force and position-measuring sensors. Initial tests are conducted in the simulated environment on advanced mathematical models including drone-surface interaction dynamics. In the real environment, on the other hand, tests are carried out on metal and composite surfaces to validate the techniques developed and verify their robustness. A key aspect of the research concerns the management of interaction forces, in particular those generated by static and dynamic friction during contact. In addition, the tilting capability of drones provides additional degrees of freedom, proving essential for operations on uneven or hard-to-reach surfaces.
Downloads
Downloads per month over past year
Actions (login required)
 |
Modifica documento |
