| Full text | |
| Author(s): |
Rego, Brenner S.
;
Cardoso, Daniel N.
;
Terra, Marco. H.
;
Raffo, Guilherme V.
Total Authors: 4
|
| Document type: | Journal article |
| Source: | SYNERGETIC COOPERATION BETWEEN ROBOTS AND HUMANS, VOL 1, CLAWAR 2023; v. 810, p. 14-pg., 2024-01-01. |
| Abstract | |
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 W8 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. (AU) | |
| FAPESP's process: | 22/05052-8 - New methods for set-based state estimation and fault diagnosis of dynamic systems and applications |
| Grantee: | Brenner Santana Rego |
| Support Opportunities: | Scholarships in Brazil - Post-Doctoral |
| 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 |