Suspended load path tracking control using a tilt-rotor UAV based on zonotopic state estimation

DOI10.1016/j.jfranklin.2018.08.028zbMath1409.93049arXiv1809.07870OpenAlexW2892198774MaRDI QIDQ1730037

Brenner S. Rego, Guilherme V. Raffo

Publication date: 11 March 2019

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1809.07870

zbMATH Keywords

path tracking controltilt-rotor UAVzonotopic state estimation

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Feedback control (93B52) Nonlinear systems in control theory (93C10) Discrete-time control/observation systems (93C55) Estimation and detection in stochastic control theory (93E10) (H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85) Software, source code, etc. for problems pertaining to systems and control theory (93-04)

Related Items

Set-valued state estimation of nonlinear discrete-time systems with nonlinear invariants based on constrained zonotopes ⋮ Sliding mode-based control of a UAV quadrotor for suppressing the cable-suspended payload vibration ⋮ Guaranteed methods based on constrained zonotopes for set-valued state estimation of nonlinear discrete-time systems

Uses Software

• SDPT3
• YALMIP
• GAZEBO
• ROS

Cites Work

• Guaranteed state estimation by zonotopes
• Rigorously computed orbits of dynamical systems without the wrapping effect
• Zonotopic guaranteed state estimation for uncertain systems
• Fault tolerant flight control system for the tilt-rotor UAV
• Extended H 2 and H norm characterizations and controller parametrizations for discrete-time systems
• Computational Dynamics
• Introduction to Interval Analysis
• Recent trends in linear optimal quadratic multivariable control system design
• SDPT3 — A Matlab software package for semidefinite programming, Version 1.3
• H/sub ∞/ design with pole placement constraints: an LMI approach
• Stabilization of a mini rotorcraft with four rotors