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

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

2016

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

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