Generalized disturbance estimation via ESLKF for the motion control of rotorcraft having a rod-suspended load

Juan Antonio Escareño 1, 2 Assia Belbachir 1 Thibaut Raharijaona 3 Samia Bouchafa 2
1 IPSA - Institut Polytechnique des Sciences Avancées
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
3 ISM - Institut des Sciences du Mouvement Etienne Jules Marey
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.
Keywords : Extended-state estimation Hierachical control Linear kalman filter Multi-body rotorcrafts Robust navigation Time-scale separation
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01482244
Contributor : Frédéric Davesne <>
Submitted on : Friday, March 3, 2017 - 1:20:50 PM
Last modification on : Monday, October 28, 2019 - 10:50:22 AM

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  • HAL Id : hal-01482244, version 1

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UNIV-EVRY | IBISC | IBISC-SIBI | CNRS | UNIV-AMU | UNIV-PARIS-SACLAY | ISM-EJM

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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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