Joint state-parameter observer-based robust control of a UAV for heavy load transportation

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dc.creatorBrenner Santana Rego
dc.creatorDaniel Neri Cardoso
dc.creatorMarco Henrique Terra
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-06-02T13:26:17Z
dc.date.accessioned2025-09-08T22:52:55Z
dc.date.available2025-06-02T13:26:17Z
dc.date.issued2023
dc.identifier.doihttps://doi.org/10.1007/978-3-031-47269-5_17
dc.identifier.urihttps://hdl.handle.net/1843/82690
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof26th International Conference on Climbing and Walking Robots (CLAWAR 2023)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subject.otherPath Tracking Control with State Estimation based on Constrained Zonotopes for Aerial Load Transportation
dc.subject.otherAdaptive control with unknown mass estimation for a quadrotor-slung-load system
dc.subject.otherInput Shaped Trajectory Generation and Controller Design for a Quadrotor-Slung Load System
dc.subject.otherGuaranteed methods based on constrained zonotopes for set-valued state estimation of nonlinear discrete-time systems
dc.titleJoint state-parameter observer-based robust control of a UAV for heavy load transportation
dc.typeArtigo de evento
local.citation.epage12
local.citation.spage1
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://link.springer.com/chapter/10.1007/978-3-031-47269-5_17

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