Path tracking control based on guaranteed state estimation for a tilt-rotor UAV
Brenner Santana Rego1; Guilherme Vianna Raffo1
1 Universidade Federal de Minas Gerais
Resumo
This paper addresses the problem of path tracking control for a tilt-rotor unmanned aerial vehicle (UAV), in the presence of external disturbances and noisy measurements. A deterministic, guaranteed state estimator based on zonotopes is proposed in this work for dealing with the available measurements. The state estimator is shown to be capable of providing full information about the states of the UAV, even when the sensors have different sampling times. Then, a discrete-time linear quadratic regulator is designed for path tracking control with constant disturbances rejection, with feedback from the estimated states. Simulation results are presented in order to validate the proposed strategy.
Palavras-chave: Tilt-rotor UAVPath tracking; Guaranteed state estimation; Sensor fusion; Path tracking