State and parameter estimation of suspended load using quadrotor onboard sensors (CROSBI ID 694592)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Prkačin, Vicko ; Palunko, Ivana ; Petrović, Ivan
engleski
State and parameter estimation of suspended load using quadrotor onboard sensors
In this paper, we address the problem of state and parameter estimation of a suspended load using quadrotor onboard sensors. Flying with a suspended load alters the quadrotor flight dynamics, sometimes to a large extent, making it a challenging and hazardous task. Monitoring the state of the suspended load is vital for safe flight operations while parameter estimation decouples the control design from specific parameter-dependent solutions. We take advantage of the fact that the forces and torques the suspended load exerts on the quadrotor can be detected in the aircraft IMU measurements as a low frequency harmonic. Thus, by combining the available measurements and system mass we are able to estimate the state of the suspended load. Since our approach stems from understanding the aircraft-load interaction, we start off by delineating the full system model of the quadrotor with a suspended load. To isolate the natural frequency of the suspended load and determine the length of suspension cable, we employ the Fast Fourier Transform (FFT). The proposed estimation algorithms are validated through extensive numerical simulations and experimentally.
Micro- and Mini- UAS ; Payloads ; UAS Applications
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Podaci o prilogu
958-967.
2020.
objavljeno
10.1109/ICUAS48674.2020.9213840
Podaci o matičnoj publikaciji
2020 International Conference on Unmanned Aircraft Systems (ICUAS)
Atena: Institute of Electrical and Electronics Engineers (IEEE)
978-1-7281-4278-4
2373-6720
2575-7296
Podaci o skupu
2020 International Conference on Unmanned Aircraft Systems (ICUAS 2020)
predavanje
01.09.2020-04.09.2020
Atena, Grčka