Special Session: Hybrid and Convertible Unmanned Aerial Vehicles. 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 \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\mathcal {W}_\infty $$\end{document} 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.
Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation
Lect. Notes in Networks, Syst.
Climbing and Walking Robots Conference ; 2023 ; Florianópolis, Brazil October 02, 2023 - October 04, 2023
2024-02-08
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
HEAVY-LOAD TRANSPORTATION CONTROL SYSTEM, TRANSPORTATION MEANS, AND TRANSPORTATION CONTROL METHOD
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