TY - CHAP
T1 - Mass and Inertia Estimation Using All-Accelerometer
AU - Al-Rawashdeh, Yazan M.
AU - Elshafei, Moustafa
AU - Ouakad, Hassen
N1 - Publisher Copyright:
© 2023 IEEE.
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PY - 2023/7/18
Y1 - 2023/7/18
N2 - A closed-loop identification method for estimating quadrotor-manipulators mass and inertia is presented. Essentially, the measurements of a plurality of six linear tri-axial accelerometers network are used. Adopting the assumption of rigid body, the recursive nonlinear least squares method is used to obtain the mass and inertia estimates, with the aid of a sufficiently exciting exogenous noise that is used to ensure convergence of the identification process when the angular motion during flight is negligible. Stability and identifiability related issues during identification and mission conduction are discussed. Other types of aerial vehicles can benefit from the proposed method that depends on simple kinematical analysis of motion. Its applicability is demonstrated using a numeric simulation.
AB - A closed-loop identification method for estimating quadrotor-manipulators mass and inertia is presented. Essentially, the measurements of a plurality of six linear tri-axial accelerometers network are used. Adopting the assumption of rigid body, the recursive nonlinear least squares method is used to obtain the mass and inertia estimates, with the aid of a sufficiently exciting exogenous noise that is used to ensure convergence of the identification process when the angular motion during flight is negligible. Stability and identifiability related issues during identification and mission conduction are discussed. Other types of aerial vehicles can benefit from the proposed method that depends on simple kinematical analysis of motion. Its applicability is demonstrated using a numeric simulation.
KW - aerial manipulator
KW - all-accelerometer
KW - estimation
KW - inertia
KW - least squares
KW - mass
KW - quadrotor
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UR - https://www.mendeley.com/catalogue/1d96f755-e924-308f-a021-fb49f93e7caf/
U2 - 10.1109/sas58821.2023.10254165
DO - 10.1109/sas58821.2023.10254165
M3 - Chapter
AN - SCOPUS:85173995430
SN - 9798350323078
T3 - 2023 IEEE Sensors Applications Symposium (SAS)
SP - 1
EP - 5
BT - 2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE Sensors Applications Symposium, SAS 2023
Y2 - 18 July 2023 through 20 July 2023
ER -