MMAC Height Control System of a Quadrotor for Constant Unknown Load Transportation

Pedro Outeiro; Carlos Cardeira; Paulo Oliveira

IROS 2018poster6 citations

MMAC Height Control System of a Quadrotor for Constant Unknown Load Transportation

Pedro Outeiro, Carlos Cardeira, Paulo Oliveira

Abstract

This paper presents a methodology for height control of a quadrotor that transports a constant unknown load, given the estimates on both weight and state variables, based on measurements from motion sensors installed on-board. The proposed control and estimation framework is a Multi-Model Adaptive Controller using LQR with integrative action and Kalman filter with integrative component. The control system obtained is validated both in simulation and experimentally, resorting to an off-the-shelf commercially available quadrotor equipped with an IMU, an ultrasound height sensor, and a barometer, among other sensors.

BibTeX

@inproceedings{iros2018_mmacheightcontro,
  title = {MMAC Height Control System of a Quadrotor for Constant Unknown Load Transportation},
  author = {Pedro Outeiro and Carlos Cardeira and Paulo Oliveira},
  booktitle = {IROS 2018},
  year = {2018}
}