| Full text | |
| Author(s): |
Marton, Apolo Silva
[1]
;
Fioravanti, Andre Ricardo
[1]
;
Azinheira, Jose Raul
[2]
;
de Paiva, Ely Carneiro
[3]
Total Authors: 4
|
| Affiliation: | [1] Univ Estadual Campinas, Sch Mech Engn, Dept Computat Mech, Mendeleyev St 200, BR-13083180 Campinas - Brazil
[2] Inst Super Tecn, Dept Mech Engn, P-1049001 Lisbon - Portugal
[3] Univ Estadual Campinas, Sch Mech Engn, Dept Integrated Syst, Mendeleyev St 200, BR-13083180 Campinas - Brazil
Total Affiliations: 3
|
| Document type: | Journal article |
| Source: | Journal of the Brazilian Society of Mechanical Sciences and Engineering; v. 42, n. 3 FEB 19 2020. |
| Web of Science Citations: | 0 |
| Abstract | |
In the context of autonomous airships, several works in control and guidance use wind velocity to design a control law. However, in general, this information is not directly measured in robotic airships. This paper presents three alternative versions for estimation of wind velocity. Firstly, an extended Kalman Filter is designed as a model-based approach. Then, a Neural Network is designed as a data-driven approach. Finally, a hybrid estimator is proposed by performing a fusion between the previous designed estimators: model-based and data-driven. All approaches consider only global positioning system, inertial measurement unit and a one-dimensional Pitot tube as available sensors. Simulations in a realistic nonlinear model of the airship suggest that the cooperation between these two techniques increases the estimation performance. (AU) | |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |
| FAPESP's process: | 17/11423-0 - Guidance and path planning approaches for the navigation of an autonomous airship in environmental applications in Amazonia |
| Grantee: | Ely Carneiro de Paiva |
| Support Opportunities: | Scholarships abroad - Research |