Differential Flatness-Based Parameter Estimation for Suspended Load Drones-Reference-Cited by-同舟云学术

Differential Flatness-Based Parameter Estimation for Suspended Load Drones

Published:2023-04-20 Issue:2 Volume:35 Page:408-416
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Eikyu Wataru¹,Sekiguchi Kazuma²^ORCID,Nonaka Kenichiro²^ORCID

Affiliation:

1. Graduate School of Integrative Science and Engineering, Tokyo City University, 1-28-1 Tamazutsumi, Setagaya-ku, Tokyo 158-8557, Japan

2. Department of Mechanical System Engineering, Faculty of Science and Engineering, Tokyo City University, 1-28-1 Tamazutsumi, Setagaya-ku, Tokyo 158-8557, Japan

Abstract

The transportation of goods by drones using cable towing has recently attracted considerable attention. When flying a suspended load drone, any discrepancy between the mathematical model and the actual drone deteriorates control performance. However, because some physical parameters are difficult to measure, creating an accurate mathematical model is extremely difficult. Therefore, we propose a parameter estimation method using differential flatness that can be extended for application to suspended load drones. This method overcomes the problem of dealing with higher-order derivatives of flat outputs and enables the estimation of physical parameters. In this study, we experimentally show that the proposed method improves trajectory tracking performance.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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