Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation
Abstract
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.
Keywords
Cite
@article{arxiv.2503.18187,
title = {Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation},
author = {Brenner S. Rego and Daniel N. Cardoso and Marco. H. Terra and Guilherme V. Raffo},
journal= {arXiv preprint arXiv:2503.18187},
year = {2025}
}
Comments
12 pages, 3 figures. This is a preprint of a paper presented at the 2023 Conference on Climbing and Walking Robots (CLAWAR) and published later by Springer Nature Switzerland