loading
  • Login
  • Sign-Up

Research.Publish.Connect.

Paper

Authors: J. Escareno 1 ; A. Belbachir 2 ; T. Raharijaona 3 and S. Bouchafa 4

Affiliations: 1 Institut Polytechnique des Sciences Avancées , Université d'Evry and Laboratoire IBISC, France ; 2 Institut Polytechnique des Sciences Avancées, France ; 3 Aix-Marseille Universit\'e, CNRS and ISM UMR 7287, France ; 4 Université d'Evry and Laboratoire IBISC, France

ISBN: 978-989-758-198-4

Keyword(s): Multi-body rotorcrafts, Linear Kalman Filter, Extended-state estimation, robust navigation, hierachical control, time-scale separation

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation

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

PDF ImageFull Text

Download
Sign In Guest: Register as new SCITEPRESS user or Join INSTICC now for free.

Sign In SCITEPRESS user: please login.

Sign In INSTICC Members: please login. If not a member yet, Join INSTICC now for free.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.161.22.187. INSTICC members have higher download limits (free membership now)

In the current month:
Recent papers: 1 available of 1 total
2+ years older papers: 2 available of 2 total

Paper citation in several formats:
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

@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},
doi={10.5220/0006009105260533},
isbn={978-989-758-198-4},
}

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

Sorted by: Show papers

Note: The preferred Subjects/Areas/Topics, listed below for each paper, are those that match the selected paper topics and their ontology superclasses.
More...

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.

Show authors

Note: The preferred Subjects/Areas/Topics, listed below for each author, are those that more frequently used in the author's papers.
More...