Ullah, Hameed (2024) Push-and-slide operations in contact inspection with an unmanned aerial manipulator. [Tesi di dottorato]
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| Tipologia del documento: | Tesi di dottorato |
|---|---|
| Lingua: | English |
| Titolo: | Push-and-slide operations in contact inspection with an unmanned aerial manipulator |
| Autori: | Autore Email Ullah, Hameed hameed.ullah@unina.it |
| Data: | 12 Dicembre 2024 |
| Numero di pagine: | 198 |
| Istituzione: | Università degli Studi di Napoli Federico II |
| Dipartimento: | Ingegneria Elettrica e delle Tecnologie dell'Informazione |
| 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 Ruggiero, Fabio [non definito] |
| Data: | 12 Dicembre 2024 |
| Numero di pagine: | 198 |
| Parole chiave: | Aerial manipulators, actively tilting multirotor, omnidirectional AM, aerial physical interaction, push-and-slide operations. |
| Settori scientifico-disciplinari del MIUR: | Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica |
| Informazioni aggiuntive: | Thesis authored by Hameed Ullah, a PhD student of ITEE, 37th-cycle, Unina, Italy. |
| Depositato il: | 31 Dic 2024 11:10 |
| Ultima modifica: | 12 Ago 2026 05:38 |
| URI: | https://www.fedoa.unina.it/id/eprint/16552 |
Abstract
The main aim of this doctoral thesis is the stabilization and control of Aerial Manipulator (AM) for Aerial Physical Interaction (APhI) tasks, emphasizing on robust and precise control strategies for physical interactions. Unmanned Aerial Vehicles (UAVs) play an important role in numerous applications; nonetheless, they encounter difficulties in physical interactions. To overcome this, UAVs are being adapted into aerial manipulators—UAVs equipped with robotic arms or stick for active manipulation tasks. This research examines control strategies for manipulators interacting with the environment, particularly using omnidirectional, actively tilting multirotor platforms. The first contribution of this doctoral thesis is the design of a hybrid force/position control techniques for horizontal sustained force applications, reaching up to 8 N. This technique is effective for tasks which need stable contact and for long duration. This doctoral thesis second contribution presents the rotation of a heavy 20 kg rigid body by applying precise sustained force, illustrating the system’s efficacy in challenging environments. The third contribution, highlight the design of a novel Onmi-wheel for aerial manipulator useful for two-dimensional push-and-slide task, to avoid traditional force sensors, a momentum-based wrench estimator are used to enhance stability. Moreover, designed a Non-linear Model Predictive Control (NMPC) for aerial manipulator to perform push and slide operations. Overall, this doctoral thesis contribute in the aerial manipulator advancement, particularly use for physical interaction tasks, introducing the stable and robust controller. Furthermore, this research sets the ground for aerial manipulation need precise aerial interaction in real world. Future suggestion include advance optimal techniques and implementation in real world.
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