无人机运载未知重物时，能同时估计状态和参数并精准跟踪轨迹。
Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation
- 用联合估计算法同步估计飞行状态和负载参数。
- 在真实仿真中实现高精度轨迹跟踪，误差小且鲁棒性强。
- 适合需要精确控制重载无人机的工程应用。
本文针对八旋翼无人飞行器（OUAV）运载未知质量与尺寸的重物场景，提出一种基于联合状态-参数观测器的控制器。通过建立包含刚性连接负载的多体动力学模型，有效考虑了负载参数对系统动态的影响。设计了一种鲁棒非线性W-无穷控制策略，利用联合估计的无迹卡尔曼滤波提供状态与负载参数信息，实现最优轨迹跟踪。数值结果验证了所提方法的有效性。
原文摘要 · Abstract (English)
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.
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