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arXiv · 2503.18187

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
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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.

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Brenner S. Rego, Daniel N. Cardoso, Marco. H. Terra, Guilherme V. Raffo. 2025-03-23. Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation. https://doi.org/10.1007/978-3-031-47269-5_17

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