Nonlinear Control of Robots and Unmanned Aerial Vehicles

Nonlinear Control of Robots and Unmanned Aerial Vehicles
Author: Ranjan Vepa
Publsiher: CRC Press
Total Pages: 544
Release: 2016-10-14
ISBN: 1498767052
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Nonlinear Control of Robots and Unmanned Aerial Vehicles Book Excerpt:

Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

Nonlinear Control of Fixed Wing UAVs with Time Varying and Unstructured Uncertainties

Nonlinear Control of Fixed Wing UAVs with Time Varying and Unstructured Uncertainties
Author: Michail G. Michailidis,Kimon P. Valavanis,Matthew J. Rutherford
Publsiher: Springer Nature
Total Pages: 119
Release: 2020-02-21
ISBN: 3030407160
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Nonlinear Control of Fixed Wing UAVs with Time Varying and Unstructured Uncertainties Book Excerpt:

This book introduces a comprehensive and mathematically rigorous controller design for families of nonlinear systems with time-varying parameters and unstructured uncertainties. Although the presented methodology is general, the specific family of systems considered is the latest, NextGen, unconventional fixed-wing unmanned aircraft with circulation control or morphing wings, or a combination of both. The approach considers various sources of model and parameter uncertainty, while the controller design depends not on a nominal plant model, but instead on a family of admissible plants. In contrast to existing controller designs that consider multiple models and multiple controllers, the proposed approach is based on the ‘one controller fits all models’ within the unstructured uncertainty interval. The book presents a modeling-based analysis and synthesis approach with additive uncertainty weighting functions for accurate realization of the candidate systems. This differs significantly from existing designs in that it is capable of handling time-varying characteristics. This research monograph is suitable for scientists, engineers, researchers and graduate students with a background in control system theory who are interested in complex engineering nonlinear systems.

Nonlinear Control of Vehicles and Robots

Nonlinear Control of Vehicles and Robots
Author: Béla Lantos,Lőrinc Márton
Publsiher: Springer Science & Business Media
Total Pages: 464
Release: 2010-12-01
ISBN: 1849961220
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Nonlinear Control of Vehicles and Robots Book Excerpt:

Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.

Formation Control of Mobile Robots and Unmanned Aerial Vehicles

Formation Control of Mobile Robots and Unmanned Aerial Vehicles
Author: Travis Alan Dierks
Publsiher: Unknown
Total Pages: 656
Release: 2009
ISBN: 1928374650XXX
Category: Lyapunov stability
Language: EN, FR, DE, ES & NL

Formation Control of Mobile Robots and Unmanned Aerial Vehicles Book Excerpt:

"In this dissertation, the nonlinear control of nonholonomic mobile robot formations and unmanned aerial vehicle (UAV) formations is undertaken and presented in six papers. In the first paper, an asymptotically stable combined kinematic/torque control law is developed for leader-follower based formation control of mobile robots using backstepping. A neural network (NN) is introduced along with robust integral of the sign of the error (RISE) feedback to approximate the dynamics of the follower as well as its leader using online weight tuning. Subsequently, in the second paper, a novel NN observer is designed to estimate the linear and angular velocities of both the follower and its leader robot and a NN output feedback control law is developed. On the other hand, in the third paper, a NN-based output feedback control law is presented for the control of an underactuated quad rotor UAV, and a NN virtual control input scheme is proposed which allows all six degrees of freedom to be controlled using only four control inputs. The results of this paper are extended to include the control of quadrotor UAV formations, and a novel three-dimensional leader-follower framework is proposed in the fourth paper. Next, in the fifth paper, the discrete-time nonlinear optimal control is undertaken using two online approximators (OLA's) to solve the infinite horizon Hamilton-Jacobi-Bellman (HJB) equation forward-in-time to achieve nearly optimal regulation and tracking control. In contrast, paper six utilizes a single OLA to solve the infinite horizon HJB and Hamilton-Jacobi-Isaacs (HJI) equations forward-intime for the near optimal regulation and tracking control of continuous affine nonlinear systems. The effectiveness of the optimal tracking controllers proposed in the fifth and sixth papers are then demonstrated using nonholonomic mobile robot formation control"--Abstract, leaf iv.

Unmanned Aerial Vehicles Breakthroughs in Research and Practice

Unmanned Aerial Vehicles  Breakthroughs in Research and Practice
Author: Management Association, Information Resources
Publsiher: IGI Global
Total Pages: 558
Release: 2019-05-03
ISBN: 1522583661
Category: Transportation
Language: EN, FR, DE, ES & NL

Unmanned Aerial Vehicles Breakthroughs in Research and Practice Book Excerpt:

First used in military applications, unmanned aerial vehicles are becoming an integral aspect of modern society and are expanding into the commercial, scientific, recreational, agricultural, and surveillance sectors. With the increasing use of these drones by government officials, business professionals, and civilians, more research is needed to understand their complexity both in design and function. Unmanned Aerial Vehicles: Breakthroughs in Research and Practice is a critical source of academic knowledge on the design, construction, and maintenance of drones, as well as their applications across all aspects of society. Highlighting a range of pertinent topics such as intelligent systems, artificial intelligence, and situation awareness, this publication is an ideal reference source for military consultants, military personnel, business professionals, operation managers, surveillance companies, agriculturalists, policymakers, government officials, law enforcement, IT professionals, academicians, researchers, and graduate-level students.

Autonomous Flying Robots

Autonomous Flying Robots
Author: Kenzo Nonami,Farid Kendoul,Satoshi Suzuki,Wei Wang,Daisuke Nakazawa
Publsiher: Springer Science & Business Media
Total Pages: 329
Release: 2010-09-15
ISBN: 4431538569
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Autonomous Flying Robots Book Excerpt:

The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle

Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle
Author: Moussa Labbadi,Yassine Boukal,Mohamed Cherkaoui
Publsiher: Springer Nature
Total Pages: 249
Release: 2021-09-14
ISBN: 3030810143
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle Book Excerpt:

This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.

Aerial Robots

Aerial Robots
Author: Omar D Lopez Mejia,Jaime Escobar
Publsiher: BoD – Books on Demand
Total Pages: 194
Release: 2017-09-06
ISBN: 9535134639
Category: Science
Language: EN, FR, DE, ES & NL

Aerial Robots Book Excerpt:

Few years ago, the topic of aerial robots was exclusively related to the robotics community, so a great number of books about the dynamics and control of aerial robots and UAVs have been written. As the control technology for UAVs advances, the great interaction that exists between other systems and elements that are as important as control such as aerodynamics, energy efficiency, acoustics, structural integrity, and applications, among others has become evident. Aerial Robots - Aerodynamics, Control, and Applications is an attempt to bring some of these topics related to UAVs together in just one book and to look at a selection of the most relevant problems of UAVs in a broader engineering perspective.

Robotic Manipulators and Vehicles

Robotic Manipulators and Vehicles
Author: Gerasimos Rigatos,Krishna Busawon
Publsiher: Springer
Total Pages: 734
Release: 2018-05-24
ISBN: 331977851X
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Robotic Manipulators and Vehicles Book Excerpt:

This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Nonlinear Control and Filtering Using Differential Flatness Approaches

Nonlinear Control and Filtering Using Differential Flatness Approaches
Author: Gerasimos G. Rigatos
Publsiher: Springer
Total Pages: 736
Release: 2015-06-05
ISBN: 3319164201
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Nonlinear Control and Filtering Using Differential Flatness Approaches Book Excerpt:

This monograph presents recent advances in differential flatness theory and analyzes its use for nonlinear control and estimation. It shows how differential flatness theory can provide solutions to complicated control problems, such as those appearing in highly nonlinear multivariable systems and distributed-parameter systems. Furthermore, it shows that differential flatness theory makes it possible to perform filtering and state estimation for a wide class of nonlinear dynamical systems and provides several descriptive test cases. The book focuses on the design of nonlinear adaptive controllers and nonlinear filters, using exact linearization based on differential flatness theory. The adaptive controllers obtained can be applied to a wide class of nonlinear systems with unknown dynamics, and assure reliable functioning of the control loop under uncertainty and varying operating conditions. The filters obtained outperform other nonlinear filters in terms of accuracy of estimation and computation speed. The book presents a series of application examples to confirm the efficiency of the proposed nonlinear filtering and adaptive control schemes for various electromechanical systems. These include: · industrial robots; · mobile robots and autonomous vehicles; · electric power generation; · electric motors and actuators; · power electronics; · internal combustion engines; · distributed-parameter systems; and · communication systems. Differential Flatness Approaches to Nonlinear Control and Filtering will be a useful reference for academic researchers studying advanced problems in nonlinear control and nonlinear dynamics, and for engineers working on control applications in electromechanical systems.

Unmanned Robotic Systems and Applications

Unmanned Robotic Systems and Applications
Author: Mahmut Reyhanoglu,Geert De Cubber,Daniela Doroftei
Publsiher: BoD – Books on Demand
Total Pages: 110
Release: 2020-04-15
ISBN: 1789845661
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Unmanned Robotic Systems and Applications Book Excerpt:

This book presents recent studies of unmanned robotic systems and their applications. With its five chapters, the book brings together important contributions from renowned international researchers. Unmanned autonomous robots are ideal candidates for applications such as rescue missions, especially in areas that are difficult to access. Swarm robotics (multiple robots working together) is another exciting application of the unmanned robotics systems, for example, coordinated search by an interconnected group of moving robots for the purpose of finding a source of hazardous emissions. These robots can behave like individuals working in a group without a centralized control.

Motion Coordination for VTOL Unmanned Aerial Vehicles

Motion Coordination for VTOL Unmanned Aerial Vehicles
Author: Abdelkader Abdessameud,Abdelhamid Tayebi
Publsiher: Springer Science & Business Media
Total Pages: 182
Release: 2013-05-26
ISBN: 1447150945
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Motion Coordination for VTOL Unmanned Aerial Vehicles Book Excerpt:

Motion Coordination for VTOL Unmanned Aerial Vehicles develops new control design techniques for the distributed coordination of a team of autonomous unmanned aerial vehicles. In particular, it provides new control design approaches for the attitude synchronization of a formation of rigid body systems. In addition, by integrating new control design techniques with some concepts from nonlinear control theory and multi-agent systems, it presents a new theoretical framework for the formation control of a class of under-actuated aerial vehicles capable of vertical take-off and landing. Several practical problems related to the systems’ inputs, states measurements, and restrictions on the interconnection topology between the aerial vehicles in the team are addressed. Worked examples with sufficient details and simulation results are provided to illustrate the applicability and effectiveness of the theoretical results discussed in the book. The material presented is primarily intended for researchers and industrial engineers from robotics, control engineering and aerospace communities. It also serves as a complementary reading for graduate students involved in research related to flying robotics, aerospace, control of under-actuated systems, and nonlinear control theory

Artificial Neural Networks for Engineering Applications

Artificial Neural Networks for Engineering Applications
Author: Alma Y. Alanis,Nancy Arana-Daniel,Carlos Lopez-Franco
Publsiher: Academic Press
Total Pages: 224
Release: 2019-03-15
ISBN: 0128182474
Category: Science
Language: EN, FR, DE, ES & NL

Artificial Neural Networks for Engineering Applications Book Excerpt:

Artificial Neural Networks for Engineering Applications presents current trends for the solution of complex engineering problems that cannot be solved through conventional methods. The proposed methodologies can be applied to modeling, pattern recognition, classification, forecasting, estimation, and more. Readers will find different methodologies to solve various problems, including complex nonlinear systems, cellular computational networks, waste water treatment, attack detection on cyber-physical systems, control of UAVs, biomechanical and biomedical systems, time series forecasting, biofuels, and more. Besides the real-time implementations, the book contains all the theory required to use the proposed methodologies for different applications. Presents the current trends for the solution of complex engineering problems that cannot be solved through conventional methods Includes real-life scenarios where a wide range of artificial neural network architectures can be used to solve the problems encountered in engineering Contains all the theory required to use the proposed methodologies for different applications

Multiple Heterogeneous Unmanned Aerial Vehicles

Multiple Heterogeneous Unmanned Aerial Vehicles
Author: Aníbal Ollero,Iván Maza
Publsiher: Springer
Total Pages: 238
Release: 2007-10-25
ISBN: 3540739580
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Multiple Heterogeneous Unmanned Aerial Vehicles Book Excerpt:

Complete with online files and updates, this cutting-edge text looks at the next generation of unmanned flying machines. Aerial robots can be considered as an evolution of the Unmanned Aerial Vehicles (UAVs). This book provides a complete overview of all the issues related to aerial robotics, addressing problems ranging from flight control to terrain perception and mission planning and execution. The major challenges and potentials of heterogeneous UAVs are comprehensively explored.

Smart Autonomous Aircraft

Smart Autonomous Aircraft
Author: Yasmina Bestaoui Sebbane
Publsiher: CRC Press
Total Pages: 18
Release: 2015-11-18
ISBN: 148229916X
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Smart Autonomous Aircraft Book Excerpt:

With the extraordinary growth of Unmanned Aerial Vehicles (UAV) in research, military, and commercial contexts, there has been a need for a reference that provides a comprehensive look at the latest research in the area. Filling this void, Smart Autonomous Aircraft: Flight Control and Planning for UAV introduces the advanced methods of flight control, planning, situation awareness, and decision making. This book is among the first to emphasize the theoretic and algorithmic side of control and planning in dynamic and uncertain environments. Focused on the latest theory that informs flight planning and control, it describes the use of computational intelligence modeling, control, and planning. Providing background information on fixed-wing unmanned aerial vehicles, the book proceeds from the basics to advanced methods, from classical to the most innovative. It examines the current state of the art and covers the topics required to assess the autonomy of UAVs. An ideal resource for researchers and practitioners working on solutions for implementing advanced capabilities in UAVs, the book details the mathematical underpinnings of each concept and includes illustrative case studies to reinforce understanding. Providing an interdisciplinary point of view on autonomous aircraft, the book reviews the different methodologies of control and planning used to create smart autonomous aircraft. The topics covered in this book have been derived from the author’s research and teaching duties in smart aerospace and autonomous systems and from literature survey. Assuming an understanding of engineering at the undergraduate level, this book is suitable for advanced-level graduate students and PhD students enrolled in UAV or aerial robotics courses.

Adaptive Learning Methods for Nonlinear System Modeling

Adaptive Learning Methods for Nonlinear System Modeling
Author: Danilo Comminiello,Jose C. Principe
Publsiher: Butterworth-Heinemann
Total Pages: 388
Release: 2018-06-11
ISBN: 0128129778
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Adaptive Learning Methods for Nonlinear System Modeling Book Excerpt:

Adaptive Learning Methods for Nonlinear System Modeling presents some of the recent advances on adaptive algorithms and machine learning methods designed for nonlinear system modeling and identification. Real-life problems always entail a certain degree of nonlinearity, which makes linear models a non-optimal choice. This book mainly focuses on those methodologies for nonlinear modeling that involve any adaptive learning approaches to process data coming from an unknown nonlinear system. By learning from available data, such methods aim at estimating the nonlinearity introduced by the unknown system. In particular, the methods presented in this book are based on online learning approaches, which process the data example-by-example and allow to model even complex nonlinearities, e.g., showing time-varying and dynamic behaviors. Possible fields of applications of such algorithms includes distributed sensor networks, wireless communications, channel identification, predictive maintenance, wind prediction, network security, vehicular networks, active noise control, information forensics and security, tracking control in mobile robots, power systems, and nonlinear modeling in big data, among many others. This book serves as a crucial resource for researchers, PhD and post-graduate students working in the areas of machine learning, signal processing, adaptive filtering, nonlinear control, system identification, cooperative systems, computational intelligence. This book may be also of interest to the industry market and practitioners working with a wide variety of nonlinear systems. Presents the key trends and future perspectives in the field of nonlinear signal processing and adaptive learning. Introduces novel solutions and improvements over the state-of-the-art methods in the very exciting area of online and adaptive nonlinear identification. Helps readers understand important methods that are effective in nonlinear system modelling, suggesting the right methodology to address particular issues.

Handbook of Research on Advancements in Robotics and Mechatronics

Handbook of Research on Advancements in Robotics and Mechatronics
Author: Habib, Maki K.
Publsiher: IGI Global
Total Pages: 993
Release: 2014-12-31
ISBN: 1466673885
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Handbook of Research on Advancements in Robotics and Mechatronics Book Excerpt:

The field of mechatronics integrates modern engineering science and technologies with new ways of thinking, enhancing the design of products and manufacturing processes. This synergy enables the creation and evolution of new intelligent human-oriented machines. The Handbook of Research on Advancements in Robotics and Mechatronics presents new findings, practices, technological innovations, and theoretical perspectives on the the latest advancements in the field of mechanical engineering. This book is of great use to engineers and scientists, students, researchers, and practitioners looking to develop autonomous and smart products and systems for meeting today’s challenges.

Unmanned Aerial Vehicles

Unmanned Aerial Vehicles
Author: Rogelio Lozano
Publsiher: John Wiley & Sons
Total Pages: 352
Release: 2013-02-04
ISBN: 1118599861
Category: Science
Language: EN, FR, DE, ES & NL

Unmanned Aerial Vehicles Book Excerpt:

This book presents the basic tools required to obtain the dynamical models for aerial vehicles (in the Newtonian or Lagrangian approach). Several control laws are presented for mini-helicopters, quadrotors, mini-blimps, flapping-wing aerial vehicles, planes, etc. Finally, this book has two chapters devoted to embedded control systems and Kalman filters applied for aerial vehicles control and navigation. This book presents the state of the art in the area of UAVs. The aerodynamical models of different configurations are presented in detail as well as the control strategies which are validated in experimental platforms.

Biomimetic and Biohybrid Systems

Biomimetic and Biohybrid Systems
Author: Stuart P. Wilson,Paul F.M.J. Verschure,Anna Mura,Tony J. Prescott
Publsiher: Springer
Total Pages: 474
Release: 2015-07-23
ISBN: 3319229796
Category: Computers
Language: EN, FR, DE, ES & NL

Biomimetic and Biohybrid Systems Book Excerpt:

This book constitutes the proceedings of the 4th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2015, held in Barcelona, Spain, in July 2015. The 34 full and 13 short papers presented in this volume were carefully reviewed and selected from 50 submissions. The themes they deal with are: locomotion, particularly for soft-bodies; novel sensing and autonomous control systems; and cognitive architectures, social robots, and human-robot interaction.

Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers

Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers
Author: Marco Tognon,Antonio Franchi
Publsiher: Springer Nature
Total Pages: 155
Release: 2020-06-26
ISBN: 3030486591
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers Book Excerpt:

This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction. The formal analysis covers topics ranging from control, state estimation, and motion planning, to experimental validation. Addressing both theoretical and technical aspects, the book is intended for a broad academic and industrial readership, including undergraduate students, researchers and engineers. It can be used as a teaching reference, or as the basis for product development.