This letter addresses a fully-actuated Hexa-rotor's control under exogenous position and
attitude disturbances. For that aim, we propose a nonlinear and robust control based on a …

In this article, an asymmetric integral barrier Lyapunov function (AIBLF)-based control
scheme is proposed for human–robot interaction (HRI), with which robot-aided human …

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 …

Purpose This paper aims to tackle the problem for a fully actuated unmanned aerial vehicle
(FUAV) to perform physical interaction tasks in the Global Positioning System-denied …

Purpose Fully-actuated unmanned aerial vehicles (UAVs) are a growing and promising field
of research, which shows advantages for aerial physical interaction. The purpose of this …

This paper introduces the design, dynamic model, and impedance control of a novel five
degrees of freedom (DOF) double-driven parallel mechanism (DDPM) for the task of …

In recent years there has been an exploding interest in extending the current applications of
multirotor UAVs to those that require aerial physical interactions, such as contact-based …