Mini-Course: Geometric Port-Hamiltonian Modeling and Control of a​ Flying End-Effector - Lecture 1

Описание: This three-lecture mini-course gives students a rigorous, energy-based toolkit for aerial physical interaction with a fully actuated “flying end-effector.” It starts by building the port-Hamiltonian view of robot–environment interconnection and designing geometric impedance on SE(3) so students can reason about power flow and closed-loop passivity. It then shows how to regulate contact wrench via stiffness modulation, why changing stiffness injects energy (breaking passivity), and how to analyze the resulting error dynamics. Finally, it introduces energy-aware control with virtual energy tanks that route dissipated power, restore passivity by design, and add safety during contact loss, along with practical tuning rules and replication scenarios.

Lecture 1: Foundations: From Aerial Interaction to Geometric Impedance on SE(3)
Lecture 2: Wrench Regulation via Variable Stiffness (and Why It Breaks Passivity)
Lecture 3: Energy-Aware Control: Tanks, Routing, and Safety in Contact-Loss

Reference IEEE TRO 2022 article:
Rashad, R., Bicego, D., Zult, J., Sanchez-Escalonilla, S., Jiao, R., Franchi, A., & Stramigioli, S. (2022). Energy aware impedance control of a flying end-effector in the port-Hamiltonian framework. IEEE transactions on robotics, 38(6), 3936-3955.