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Robust control concept for tilt-rotor MAVs
Tilt-rotor MAVs present a novel design of flying platforms in that they are able to produce high forces and torques on attached manipulators. This allows them to execute physical interaction tasks remotely (e.g. infrastructure inspection, spray painting).
Tilt rotor systems have the advantage of being able to rotate their rotor angles, and thus transforming the structure of the MAV such that it can adapt to the flight configuration that is most optimal. However, finding and controlling this optimal configuration of the MAV is a non-trivial task on its own, and frequent changes of the configuration can lead to unstable behaviour.
Therefore, this project intends to find a new and robust method to control the tilt arm configuration of a tilt-rotor MAV.
The aim of this project is to design a new controller that minimizes tilt-arm motions while performing a given task (e.g. free flight trajectory tracking, force interaction with rigid structures). This should lead to a more stable and robust behavior of the entire flying platform.
The aim of this project is to design a new controller that minimizes tilt-arm motions while performing a given task (e.g. free flight trajectory tracking, force interaction with rigid structures). This should lead to a more stable and robust behavior of the entire flying platform.
- Literature study.
- Design and implementation.
- Comparison with previous control methods (and potentially evaluation of robustness), both in free flight and in interaction
- Detailed evaluation of results and performance.
- Literature study. - Design and implementation. - Comparison with previous control methods (and potentially evaluation of robustness), both in free flight and in interaction - Detailed evaluation of results and performance.
- High motivation and interest in the topic.
- Strong C++ programming skills.
- Knowledge of ROS desired.
- Good understanding of linear algebra and optimization advantageous.
- High motivation and interest in the topic. - Strong C++ programming skills. - Knowledge of ROS desired. - Good understanding of linear algebra and optimization advantageous.
Maximilian Brunner - maximilian.brunner@mavt.ethz.ch
Maximilian Brunner - maximilian.brunner@mavt.ethz.ch