Authors:
J. Escareno
1
;
A. Belbachir
2
;
T. Raharijaona
3
and
S. Bouchafa
4
Affiliations:
1
Institut Polytechnique des Sciences Avancées , Université d'Evry and Laboratoire IBISC, France
;
2
Institut Polytechnique des Sciences Avancées, France
;
3
Aix-Marseille Universit\'e, CNRS and ISM UMR 7287, France
;
4
Université d'Evry and Laboratoire IBISC, France
Keyword(s):
Multi-body rotorcrafts, Linear Kalman Filter, Extended-state estimation, robust navigation, hierachical control, time-scale separation
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robotics and Automation
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