Path Tracking Control with State Estimation based on Constrained Zonotopes for Aerial Load Transportation
| Autor: | Davide M. Raimondo, Brenner S. Rego, Guilherme V. Raffo |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology 020901 industrial engineering & automation Control theory Position (vector) Computer science Orientation (computer vision) 0502 economics and business 05 social sciences Sampling (statistics) 02 engineering and technology State (computer science) |
| Zdroj: | CDC |
| DOI: | 10.1109/cdc.2018.8618678 |
| Popis: | This work deals with the problem of path tracking of a suspended load using a tilt-rotor UAV. Such task requires the knowledge of the load position, which may not be provided by available sensors. Therefore, to accomplish the path tracking, a set-valued state estimator based on constrained zonotopes is proposed to solve the problem of estimating the load position and orientation, considering sensors with different sampling times, and unknown-but-bounded disturbances. Moreover, to provide feedback to the controller based on the estimated state set, an optimal state choice is given according to a proposed constrained minimum-variance criteria. The path tracking is then solved by a discrete-time mixed H 2 /H ∞ controller with pole-placement constraints. Results from numerical experiments, performed in a platform based on the Gazebo simulator with a Computer Aided Design (CAD) model of the system, are presented to corroborate the performance of the set-valued state estimator along with the designed controller. |
| Databáze: | OpenAIRE |
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