Generalized disturbance estimation via ESLKF for the motion control of rotorcraft having a rod-suspended load - Archive ouverte HAL Access content directly
Conference Papers Year : 2016

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 rodsuspended 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.
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Dates and versions

hal-01482244 , version 1 (03-03-2017)

Identifiers

  • HAL Id : hal-01482244 , version 1

Cite

Juan Antonio Escareño, Assia Belbachir, Thibaut Raharijaona, Samia Bouchafa. Generalized disturbance estimation via ESLKF for the motion control of rotorcraft having a rod-suspended load. 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016), Jul 2016, Lisbon, Portugal. pp.526--533. ⟨hal-01482244⟩
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