Abstract This paper presents a methodology for height and yaw angle control of a quadrotor that transports an unknown constant load added before the flight. Based on measurements from the onboard sensors, estimates of inertial parameters – mass and z-axis inertia – and state variables – vertical position, velocity, yaw angle and rate – are provided resorting to Multiple-Model Adaptive Estimators. The number and worst case performance of Kalman filters is selected based on the Baram Proximity Measure. The proposed control methods are a steady state Linear Quadratic Regulator (LQR) with integrative action for the height, and an LQR controller for the yaw angle. The overall system obtained is validated with load variations of up to 10% of the vehicle mass, both in simulation and experimentally, resorting to an off-the-shelf commercially available quadrotor.

中文翻译：

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具有恒定未知质量和惯性的四旋翼飞行器的多模型控制架构

摘要 本文提出了一种四旋翼飞行器的高度和偏航角控制方法，该方法传输飞行前添加的未知恒定载荷。根据机载传感器的测量结果，利用多模型自适应估计器提供惯性参数（质量和 z 轴惯性）和状态变量（垂直位置、速度、偏航角和速率）的估计值。卡尔曼滤波器的数量和最坏情况性能是根据 Baram Proximity Measure 选择的。所提出的控制方法是具有高度综合作用的稳态线性二次调节器 (LQR) 和用于偏航角的 LQR 控制器。在模拟和实验中，获得的整个系统在高达车辆质量 10% 的负载变化下得到验证，