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Estimating external disturbances in UAVs using linear and spin momenta
dc.contributor.author | Cayero Becerra, Julián Francisco |
dc.contributor.author | Morcego Seix, Bernardo |
dc.contributor.author | Cugueró Escofet, Josep |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2018-11-05T08:33:44Z |
dc.date.issued | 2018 |
dc.identifier.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. |
dc.identifier.other | https://ieeexplore.ieee.org/document/8431416/ |
dc.identifier.uri | http://hdl.handle.net/2117/123529 |
dc.description.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 the derived model are presented. Finally, all the methods are compared in simulation using two case studies that consider ideal and realistic scenarios. © 2018 AACC. |
dc.format.extent | 7 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Drone aircraft |
dc.subject.lcsh | Linear systems |
dc.subject.lcsh | Dinamics |
dc.subject.other | Mathematical model |
dc.subject.other | Disturbance observers |
dc.subject.other | Adaptation models |
dc.subject.other | Unmanned aerial vehicles |
dc.subject.other | Dynamics |
dc.title | Estimating external disturbances in UAVs using linear and spin momenta |
dc.type | Conference report |
dc.subject.lemac | Avions no tripulats |
dc.subject.lemac | Sistemes lineals |
dc.subject.lemac | Dinàmica |
dc.identifier.doi | 10.23919/ACC.2018.8431416 |
dc.relation.publisherversion | https://ieeexplore.ieee.org |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 23335312 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Cayero, J.; Morcego, B.; Cugueró Escofet, Pep |
local.citation.contributor | American Control Conference |
local.citation.publicationName | Proceedings of the 2018 American Control Conference |
local.citation.startingPage | 4317 |
local.citation.endingPage | 4323 |