Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| author | Rego, Brenner S. Cardoso, Daniel N. Terra, Marco. H. Raffo, Guilherme V. |
| author_facet | Rego, Brenner S. Cardoso, Daniel N. Terra, Marco. H. Raffo, Guilherme V. |
| contents | 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 W-infinity 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_18187 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation Rego, Brenner S. Cardoso, Daniel N. Terra, Marco. H. Raffo, Guilherme V. Systems and Control Robotics 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 W-infinity 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. |
| title | Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2503.18187 |