Generalized Disturbance Estimation via ESLKF for the Motion Control of Rotorcraft Having a Rod-suspended Load

J. Escareno, A. Belbachir, T. Raharijaona, S. Bouchafa

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

References

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Paper Citation


in Harvard Style

Escareno J., Belbachir A., Raharijaona T. and Bouchafa S. (2016). Generalized Disturbance Estimation via ESLKF for the Motion Control of Rotorcraft Having a Rod-suspended Load . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 526-533. DOI: 10.5220/0006009105260533


in Bibtex Style

@conference{icinco16,
author={J. Escareno and A. Belbachir and T. Raharijaona and S. Bouchafa},
title={Generalized Disturbance Estimation via ESLKF for the Motion Control of Rotorcraft Having a Rod-suspended Load},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={526-533},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006009105260533},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Generalized Disturbance Estimation via ESLKF for the Motion Control of Rotorcraft Having a Rod-suspended Load
SN - 978-989-758-198-4
AU - Escareno J.
AU - Belbachir A.
AU - Raharijaona T.
AU - Bouchafa S.
PY - 2016
SP - 526
EP - 533
DO - 10.5220/0006009105260533