MMAC Height Control System of a Quadrotor for Constant Unknown Load Transportation

被引：0

作者：

Outeiro, Pedro ^{[1
]}

Cardeira, Carlos ^{[1
]}

Oliveira, Paulo ^{[1
]}

机构：

[1] Univ Lisbon, Inst Super Tecn, IDMEC, Lisbon, Portugal

来源：

2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2018年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a methodology for height control of a quadrotor that transports a constant unknown load, given the estimates on both weight and state variables, based on measurements from motion sensors installed on-board. The proposed control and estimation framework is a Multi-Model Adaptive Controller using LQR with integrative action and Kalman filter with integrative component. The control system obtained is validated both in simulation and experimentally, resorting to an off-the-shelf commercially available quadrotor equipped with an IMU, an ultrasound height sensor, and a barometer, among other sensors.

引用

页码：4192 / 4197

页数：6