This paper proposes a joint state-parameter observer-based controller for trajectory tracking of an octocopter unmanned aerial vehicle (OUAV), for transportation of a heavy load with unknown mass and size. The multi-body dynamic model of the OUAV with a rigidly attached load is obtained, effectively considering the effects of the load parameters into the dynamics of the system. A robust nonlinear W-infinity control strategy is designed for optimal trajectory tracking of the OUAV, with information of the states and load parameters provided by a joint estimation unscented Kalman filter. The effectiveness of the proposed strategy is corroborated by numerical results.

翻译：本文提出一种基于联合状态-参数观测器的控制器，用于实现八旋翼无人机（OUAV）在运输未知质量与尺寸重载时的轨迹跟踪任务。通过建立负载刚性连接条件下的OUAV多体动力学模型，系统性地将负载参数的影响纳入系统动力学特性中。设计了一种鲁棒非线性W无穷控制策略，结合联合估计无迹卡尔曼滤波器提供的系统状态与负载参数信息，实现OUAV的最优轨迹跟踪。数值仿真结果验证了所提策略的有效性。