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Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation

Brenner S. Rego, Daniel N. Cardoso, Marco. H. Terra, Guilherme V. Raffo

TL;DR

The paper tackles trajectory tracking for an octocopter UAV carrying a heavy load with unknown mass and size by developing a joint state-parameter observer-based framework. It combines a multi-body OUAV load dynamic model, a robust nonlinear W-infinity control design with a Riccati-based solution, and a UKF-based joint estimator that supplies states and payload parameters to the controller. The key contributions are the multi-body modeling, the Riccati-based W-infinity control solution, and the JUKF based estimation of states disturbances and payload parameters, enabling robust trajectory tracking. Numerical simulations validate robust performance under parameter uncertainty and external disturbances, highlighting practical potential for aerial heavy-load transportation and guiding future experimental validation.

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.

Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation

TL;DR

The paper tackles trajectory tracking for an octocopter UAV carrying a heavy load with unknown mass and size by developing a joint state-parameter observer-based framework. It combines a multi-body OUAV load dynamic model, a robust nonlinear W-infinity control design with a Riccati-based solution, and a UKF-based joint estimator that supplies states and payload parameters to the controller. The key contributions are the multi-body modeling, the Riccati-based W-infinity control solution, and the JUKF based estimation of states disturbances and payload parameters, enabling robust trajectory tracking. Numerical simulations validate robust performance under parameter uncertainty and external disturbances, highlighting practical potential for aerial heavy-load transportation and guiding future experimental validation.

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.

Paper Structure

This paper contains 7 sections, 2 theorems, 27 equations, 3 figures, 1 table.

Table of Contents

  1. Introduction
  2. Octocopter UAV Modeling
  3. Nonlinear $\mathcal{W}_\infty$ control of the Octocopter UAV
  4. Joint state, input and parameter estimation
  5. Load parameterization, sensors, and control structure
  6. Numerical experiments
  7. Conclusions

Key Result

theorem thmcountertheorem

Consider the nonlinear system with $\bm{f}(\bm{\chi},t) \triangleq ',$$\bm{G}(\bm{\chi},t) = \bm{K}(\bm{\chi},t) = [ {\bm{0}} \,\; {\bm{0}} \,\; \left(\bm{M}^{-1}(\bm{\chi},t)\right)' ]'$, where $\bm{u} \in \mathbb{R}^{n_u}$is the input vector, $\bm{w} \in \mathbb{R}^{n_u}$is the disturbance vector, $\tilde{\bm{q}} \triangleq \b for a given sufficiently large $\mathcal{W}_\infty$-index $\gamma \i

Figures (3)

  • Figure 1: Definitions: propeller velocities $\bm{\Omega}_{{p}}$ and frames $\mathcal{P}_{{p}}$, COMs frames $\mathcal{C}_{O}$, $\mathcal{C}_{L}$, inertial frame $\mathcal{I}$, body frame $\mathcal{B}$, and angles $\alpha_p$, with $p \in \{1,\ldots,8\}$.
  • Figure 2: The OUAV trajectory, and the time evolution of ${\bm{u}}(t)$ and ${\bm{q}}(t)$.
  • Figure 3: Estimated generalized DOF, disturbances and load parameters.

Theorems & Definitions (6)

  • theorem thmcountertheorem
  • proof
  • theorem thmcountertheorem
  • proof
  • remark thmcounterremark
  • remark thmcounterremark