基于联合状态参数观测器的无人机重载运输鲁棒控制
系统与控制
2025-03-25 v1 机器人学
系统与控制
摘要
本文提出一种基于联合状态参数观测器的控制器，用于无人机（OUAV）在重载运输中的轨迹跟踪。该无人机搭载未知质量和尺寸的负载。首先建立了考虑负载参数对系统动力学影响的OUAV多体动力学模型。随后设计了一种鲁棒的非线性W-infinity控制策略，以实现OUAV的最优轨迹跟踪，所需的状态和负载参数由联合估计无卡斯曼滤波器提供。通过数值实验验证了所提出方法的有效性。
引用
@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}
}
备注
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