Path tracking control with state estimation based on constrained zonotopes for aerial load transportation

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dc.creatorBrenner S. Rego
dc.creatorDavide M. Raimondo
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-04-09T14:52:49Z
dc.date.accessioned2025-09-08T23:30:10Z
dc.date.available2025-04-09T14:52:49Z
dc.date.issued2018
dc.identifier.doi10.1109/CDC.2018.8618678
dc.identifier.urihttps://hdl.handle.net/1843/81409
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofConference on Decision and Control (CDC)
dc.rightsAcesso Restrito
dc.subjectTransporte aéreo de carga
dc.subjectEngenharia de transportes
dc.subjectLogística empresarial
dc.subject.otherTransportation , Sensors , State estimation , Task analysis , Transmission line matrix methods , Design automation , Load modeling
dc.subject.otherPath 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
dc.titlePath tracking control with state estimation based on constrained zonotopes for aerial load transportation
dc.typeArtigo de evento
local.citation.epage1984
local.citation.spage1979
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8618678

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