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JRM Vol.35 No.2 pp. 408-416
doi: 10.20965/jrm.2023.p0408
(2023)

Paper:

Differential Flatness-Based Parameter Estimation for Suspended Load Drones

Wataru Eikyu*, Kazuma Sekiguchi** ORCID Icon, and Kenichiro Nonaka** ORCID Icon

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

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

Received:
October 27, 2022
Accepted:
February 4, 2023
Published:
April 20, 2023
Keywords:
differential flatness, hierarchical linearization, suspended load drone
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.

Trajectory of the towed object in the <i>x</i>-<i>y</i> plane

Trajectory of the towed object in the x-y plane

Cite this article as:
W. Eikyu, K. Sekiguchi, and K. Nonaka, “Differential Flatness-Based Parameter Estimation for Suspended Load Drones,” J. Robot. Mechatron., Vol.35 No.2, pp. 408-416, 2023.
Data files:
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