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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

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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},
publisher={SciTePress},
organization={INSTICC},
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

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