Path tracking control with state estimation based on constrained zonotopes for aerial load transportation
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Universidade Federal de Minas Gerais
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This work deals with the problem of path tracking of a suspended load using a tilt-rotor UAV. Such task requires the knowledge of the load position, which may not be provided by available sensors. Therefore, to accomplish the path tracking, a set-valued state estimator based on constrained zonotopes is proposed to solve the problem of estimating the load position and orientation, considering sensors with different sampling times, and unknown-but-bounded disturbances. Moreover, to provide feedback to the controller based on the estimated state set, an optimal state choice is given according to a proposed constrained minimum-variance criteria. The path tracking is then solved by a discrete-time mixed H2/H∞ controller with pole-placement constraints. Results from numerical experiments, performed in a platform based on the Gazebo simulator with a Computer Aided Design (CAD) model of the system, are presented to corroborate the performance of the set-valued state estimator along with the designed controller.
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Transporte aéreo de carga, Engenharia de transportes, Logística empresarial
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Transportation , Sensors , State estimation , Task analysis , Transmission line matrix methods , Design automation , Load modeling, Path Tracking , Load Transport , Path Tracking Control , Model System , Numerical Experiments , Unmanned Aerial Vehicles , Optimal Choice , Computer-aided Design , Tracking Problem , Knowledge Of Position , Suspended Load , Load Position , Optimization Problem , Linear System , Equations Of Motion , Angular Velocity , Parametrized , Global Positioning System , Inertial Frame , Inertial Measurement Unit , Center-of-mass Frame , Convex Polytope , Revolute Joints , Center Of Frame , Quadratic Programming , Compact Set , Tracking Error , Linear Error
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https://ieeexplore.ieee.org/document/8618678