Underactuation Problems for Unmanned Aerial Vehicles and Robotic Nonprehensile Manipulation PhD student: Diana Serra XXIX Cycle - I year presentation Tutor: Prof. Vincenzo Lippiello

Short bio Master Degree in Automation Engineering Member of the DIETI robotics PRISMA group Fellowship funded by CREATE consortium on Robot Control for Dynamic Manipulation Involved in the RODYMAN project (RObotic DYnamic MANipulation) XXIX Cycle - I year presentation

An underactuated system has a lower number of actuators than the degrees of freedom. It is not possible to control all the configuration space directly. Typically one input must control several degrees of freedom simultaneously. The underactuated problems that I am investigating: Emergency landing for a quadrotor UAV with a motor failure. Ball and plate nonprehensile manipulation task. Underactuated systems XXIX Cycle - I year presentation

Quadrotor: 4 motors to control 6 degrees of freedom. Typically two nested control loops are used to control this aerial vehicle. A motor failure reduces the control actions: additional underactuation. Assume that the fault has been detected and identified. The motor opposite to the broken one is turned off. The birotor starts spinning around its vertical axis. Main contributions: 1.A PID based control approach: demonstration of GAS for controlled variables. 2.A backstepping control approach for translational movements. Emergency landing for a quadrotor UAV XXIX Cycle - I year presentation

A PID control approach. Lyapunov theory for perturbed systems is used to combine the analysis of the stability of two indipendent subsystems (position and orientation) and the knowledge about the perturbation. Global asymptotic stability of the error dynamics has been demonstrated. A backstepping control approach for translational movements. The projection of the birotor spinning vertical axis into the xy-plane is controlled. Marginal stability is demonstrated using a proper Lyapunov function. Simulation tests are employed to validate the proposed controllers. Emergency landing for a quadrotor UAV XXIX Cycle - I year presentation

Emergency landing for a quadrotor UAV XXIX Cycle - I year presentation

Nonprehensile manipulation tasks do not involve grasp: it extends the set of robotic tasks. It actively uses the task dynamics to control motion variables of an object: rolling, sliding, free flight, breaking/making contacts are allowed. The specific task: To control the ball position and orientation through the rolling motion obtained moving the plate. Only 2 inputs to control 5 state variables: underactuation. Nonholonomic rolling constraint. Ball and plate nonprehensile manipulation task XXIX Cycle - I year presentation

Models developed: 1.Kinematic model using quaternions, avoiding local charts. 2.Dynamic model with a Lagrangian approach. Reduced to normal form equations with a nontrivial drift field. Smooth and continuous stabilizing feedbacks do not exist: Piecewise smooth control approaches must be investigated. Property of the system: Small time local controllability. Local maneuvers steer the system between two sufficiently close states. Ball and plate nonprehensile manipulation task XXIX Cycle - I year presentation

International conferences V. Lippiello, F. Ruggiero, D. Serra, Emergency Landing for a Quadrotor in Case of a Propeller Failure: A Backstepping Approach, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp , V. Lippiello, F. Ruggiero, D. Serra, Emergency Landing for a Quadrotor in Case of a Propeller Failure: A PID Based Approach, IEEE International Symposium on Safety, Security, and Rescue Robotics, Publications XXIX Cycle - I year presentation

Summary of the training activity XXIX Cycle - I year presentation

Thank you for your attention QUESTIONS ?