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Impedance control of a planar quadrotor with an extended Kalman Filter external wrench estimator

Author
Cayero, J.; Pep Cugueró Escofet; Morcego, B.
Type of activity
Presentation of work at congresses
Name of edition
euRathlon/SHERPA SUMMER SCHOOL 2015 ON FIELD ROBOTICS
Date of publication
2015
Presentation's date
2015-06-04
Abstract
In this work we deal with the non-linear control of aerial vehicles under external disturbances. We develop a non-linear velocity controller able to accommodate estimations of the external disturbing forces and moments. To estimate the external actions and at the same time provide improvements on the state estimation we make use of the EKF approach. Finally, we present simulations comparing close loop performance of a system with the proposed methodology implemented against close loop performanc...
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SIC - Smart Control Systems

Participants