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Estimating external disturbances in UAVs using linear and spin momenta

Author
Cayero, J.; Morcego, B.; Pep Cugueró Escofet
Type of activity
Presentation of work at congresses
Name of edition
American Control Conference
Date of publication
2018
Presentation's date
2018-06-28
Book of congress proceedings
Proceedings of the 2018 American Control Conference
First page
4317
Last page
4323
DOI
https://doi.org/10.23919/ACC.2018.8431416 Open in new window
Project funding
Health-Aware and Resilient control of CRItical Infrastructures and Complex Systems (HARCRICS)
Operación Eficiente de Infraestructuras Críticas (ECOCIS)
Repository
http://hdl.handle.net/2117/123529 Open in new window
https://ieeexplore.ieee.org/document/8431416/ Open in new window
URL
https://ieeexplore.ieee.org Open in new window
Abstract
This paper deals with the problem of estimating external disturbances acting upon aerial vehicles. First, a dynamic model based on the linear and spin momentum equations of rigid bodies is presented. This model renders the system linear, which is innovative in the area of disturbance estimation affecting UAV. Next, two estimators following the line of already published external disturbance methods are reviewed and adapted to the new model. Also, two Kalman observers that exploit the linearity of...
Citation
Cayero, J., Morcego, B., P. C. E. Estimating external disturbances in UAVs using linear and spin momenta. A: American Control Conference. "Proceedings of the 2018 American Control Conference". 2018, p. 4317-4323.
Keywords
Adaptation models, Disturbance observers, Dynamics, Mathematical model, Unmanned aerial vehicles
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control

Participants