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 W \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.


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    Titel :

    Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Youssef, Ebrahim Samer El (Herausgeber:in) / Tokhi, Mohammad Osman (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Rincon, Leonardo Mejia (Herausgeber:in) / Rego, Brenner S. (Autor:in) / Cardoso, Daniel N. (Autor:in) / Terra, Marco. H. (Autor:in) / Raffo, Guilherme V. (Autor:in)

    Kongress:

    Climbing and Walking Robots Conference ; 2023 ; Florianópolis, Brazil October 02, 2023 - October 04, 2023



    Erscheinungsdatum :

    2024-02-08


    Format / Umfang :

    14 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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