Paper Info
Title
Generalized Disturbance Estimation via ESLKF for the Motion Control of Rotorcraft Having a Rod-suspended Load.
Abstract
The aim of the paper is to propose a navigation strategy applied to a class of rotorcraft having a free rod-suspended load. The presented approach relies on the Linear Kalman Filter to estimate the not only the state vector but also a generalized disturbance term containing parametric, couplings and external uncertainties. A simple hierarchical control is used to drive the motion of the rotorcraft, which is thus updated with the estimation of the disturbance evolving during the a navigation task. Despite the time-scale separation due to the underactuated nature of the flying robot, the estimation approach has shown its effectiveness considering the same sampling time. A detailed simulation model is used to evaluate the performance of the proposal under different disturbed scenarios
Year
DOI
Venue
2016
10.5220/0006009105260533
ICINCO
Keywords
Field
DocType
Multi-body Rotorcrafts, Linear Kalman Filter, Extended-state Estimation, Robust Navigation, Hierachical Control, Time-scale Separation
Motion control,State vector,Coupling,Linear kalman filter,Control theory,Suspended load,Control engineering,Parametric statistics,Engineering,Robot,Underactuation
Conference
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
J. Escareno100.34
Assia Belbachir245.17
Thibaut Raharijaona3164.51
Samia Bouchafa46410.64