ICUAS 2020 Paper Abstract


Paper ThB4.4

Prkacin, Vicko (University of Dubrovnik), Palunko, Ivana (University of Dubrovnik), Petrović, Ivan (University of Zagreb, Faculty of Electrical Engineering and Comp)

State and Parameter Estimation of Suspended Load Using Quadrotor Onboard Sensors

Scheduled for presentation during the Regular Session "Micro- and Mini- UAS I" (ThB4), Thursday, September 3, 2020, 16:00−16:20, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords Micro- and Mini- UAS, Payloads, UAS Applications


In this paper, we address the problem of state and parameter estimation of a suspended load using quadrotor onboard sensors. Flying with a suspended load alters the quadrotor flight dynamics, sometimes to a large extent, making it a challenging and hazardous task. Monitoring the state of the suspended load is vital for safe flight operations while parameter estimation decouples the control design from specific parameter-dependent solutions. We take advantage of the fact that the forces and torques the suspended load exerts on the quadrotor can be detected in the aircraft IMU measurements as a low frequency harmonic. Thus, by combining the available measurements and system mass we are able to estimate the state of the suspended load. Since our approach stems from understanding the aircraft-load interaction, we start off by delineating the full system model of the quadrotor with a suspended load. To isolate the natural frequency of the suspended load and determine the length of suspension cable, we employ the Fast Fourier Transform (FFT). The proposed estimation algorithms are validated through extensive numerical simulations and experimentally.



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