Dragon Rider - An Integrated Unmanned Quadruped-Hexarotor System for Flight-Impeded Area Exploration

Shan, Haoxuan; Chen, Gang; Shi, Shuyang; Qin, Zhelong Wang Maoshen; Dong, Wei

doi:10.1109/m2vip49856.2021.9665137

Cited by 1 publication

(1 citation statement)

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“…In recent years, unmanned aerial vehicles (UAVs), especially multi-rotor UAVs, have been widely applied to military/civil transportation tasks such as parcel delivery [1], equipment deployment [2], and rescue missions [3]. These tasks share common characteristics that the mass-inertia parameters of UAVs vary from flight to flight, and a fine-tune of controllers to retain good tracking performances between missions is time-consuming [4].…”

Section: Introductionmentioning

confidence: 99%

RISE-Based Adaptive Control with Mass-Inertia Parameter Estimation for Aerial Transportation of Multi-Rotor UAVs

Shi¹,

Li²,

Wang³

2022

Preprint

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This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly parameterized form. Subsequently, a cascade controller with the robust integral of the sign of the error (RISE) terms is applied to smooth the control inputs and address bounded disturbances. Then, adaptive estimation laws for mass-inertia parameters are designed based on a filter operation. Such operation is introduced to extract estimation errors exploited to theoretically guarantee the finite-time (FT) convergence of estimation errors. Finally, simulations are conducted to verify the effectiveness of the designed controller. The results show that the proposed method provides better tracking and estimation performance than traditional adaptive controllers based on sliding mode control algorithms and gradient-based estimation strategies.

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Section: Introductionmentioning

confidence: 99%