Joint state-parameter observer-based robust control of a UAV for heavy load transportation
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Universidade Federal de Minas Gerais
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This paper proposes a joint state-parameter observer-based controller for trajectory tracking of an octocopter unmanned aerial vehicle (OUAV), for transportation of a heavy load with unknown mass and size. The multi-body dynamic model of the OUAV with a rigidly attached load is obtained, effectively considering the effects of the load parameters into the dynamics of the system. A robust nonlinear W-infinity control strategy is designed for optimal trajectory tracking of the OUAV, with information of the states and load parameters provided by a joint estimation unscented Kalman filter. The effectiveness of the proposed strategy is corroborated by numerical results.
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Aeronave não tripulada
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Path Tracking Control with State Estimation based on Constrained Zonotopes for Aerial Load Transportation, Adaptive control with unknown mass estimation for a quadrotor-slung-load system, Input Shaped Trajectory Generation and Controller Design for a Quadrotor-Slung Load System, Guaranteed methods based on constrained zonotopes for set-valued state estimation of nonlinear discrete-time systems
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https://link.springer.com/chapter/10.1007/978-3-031-47269-5_17