Using A Quadrotor As Wind Sensor: Time-Varying Parameter Estimation Algorithms

Perozzi, Gabriele; Efimov, Denis; Biannic, Jean-Marc; Planckaert, Laurent

Type de document :

Article dans une revue scientifique: Article original

DOI :

10.1080/00207179.2020.1780324

Titre :

Using A Quadrotor As Wind Sensor: Time-Varying Parameter Estimation Algorithms

Auteur(s) :

Perozzi, Gabriele [Auteur correspondant]
Laboratoire de Mécanique des Fluides de Lille - Kampé de Fériet [LMFL]
DAAA, ONERA [Lille]
Efimov, Denis [Auteur]

Finite-time control and estimation for distributed systems [VALSE]
Biannic, Jean-Marc [Auteur]
DTIS, ONERA, Université de Toulouse [Toulouse]
Planckaert, Laurent [Auteur]
DAAA, ONERA [Lille]

Titre de la revue :

International Journal of Control

Pagination :

126-137

Éditeur :

Taylor & Francis

Date de publication :

2020

ISSN :

0020-7179

Mot(s)-clé(s) en anglais :

Quadrotor
wind velocity estimation
time-varying parameter estimation

Discipline(s) HAL :

Sciences de l'ingénieur [physics]/Automatique / Robotique

Résumé en anglais : [en]

The objective of this paper is to develop an algorithm for the estimation of time-varying wind parameters by taking into account a detailed quadrotor model. The design objectives include the time convergence optimization, ...
Lire la suite >The objective of this paper is to develop an algorithm for the estimation of time-varying wind parameters by taking into account a detailed quadrotor model. The design objectives include the time convergence optimization, robustness to measurement noises, and a guaranteed convergence of the estimates to the true values under mild applicability conditions. It is supposed that the estimation algorithm can use IMU (accelerometers, gyroscopes) sensors augmented with an earth reference tracking system and rotor rotational velocity sensors. To this end, three time-varying parameter estimation algorithms are introduced, compared and finally merged to estimate the varying wind velocity in on-board quadrotor systems. Final numerical experiments , using a nonlinear quadrotor simulator, are used to validate the proposed approaches.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

Laboratoire de Mécanique des Fluides de Lille Kampé de Fériet (LMFL) - UMR 9014

Source :

Harvested from HAL

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