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 \(\mathcal {W}_\infty \) 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.
This work was in part supported by the project INCT (National Institute of Science and Technology) for Cooperative Autonomous Systems Applied to Security and Environment under the grants CNPq 465755/2014-3 and FAPESP 2014/50851-0, and by the Brazilian agencies CAPES under the grant numbers 88887.136349/2017-00 and 001, CNPq under the grant 315695/2020-0, FAPEMIG under the grant APQ-03090-17, and FAPESP under the grant 2022/05052-8.
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Notes
- 1.
Throughout the manuscript, some function dependencies are omitted. Moreover, \({\boldsymbol{I}}\) and \({\boldsymbol{0}}\) are identity and zero matrices, respectively, with appropriate dimensions; \(||\boldsymbol{z}(t)||_{\mathcal {W}_{\kappa ,p,\boldsymbol{\Gamma }}} \triangleq \big (\textstyle \sum _{\alpha = 0}^{\kappa } ||{d^{\alpha }\boldsymbol{z}(t)}/{dt^{\alpha }}||_{\mathcal {L}_p,\boldsymbol{\Gamma }_\alpha }^p\big )^{{1}/{p}}\), with \(\boldsymbol{\Gamma } \triangleq \{\boldsymbol{\Gamma }_0, ..., \boldsymbol{\Gamma }_\kappa \}\), where \(p \in \mathbb {N}\cup \{\infty \}\), \(\kappa \in \mathbb {N}\cup \{0\}\) and \(||\boldsymbol{z}(t)||_{\mathcal {L}_p,\boldsymbol{\Gamma }_\alpha } \triangleq \big (\int _{0}^{\infty } ||\boldsymbol{\Gamma }_\alpha ^{1/p}\boldsymbol{z}(t)||_p^p~dt\big )^{\frac{1}{p}}\), in which \(\boldsymbol{\Gamma }_\alpha > 0\); and \(\partial _{{t}}{V} \triangleq \partial V /\partial t\), \(\partial _{{\boldsymbol{\chi }}}{V} \triangleq \partial V /\partial \boldsymbol{\chi }\).
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Rego, B.S., Cardoso, D.N., Terra, M.H., Raffo, G.V. (2024). Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation Between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 810. Springer, Cham. https://doi.org/10.1007/978-3-031-47269-5_17
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