@inproceedings{d17fcc0206324c7b9de38159f2e2c0ab,
title = "Drone reference tracking in a non-inertial frame: control, design and experiment",
abstract = "Drones and mobile robots in general experience motion sickness when put inside a GPS denied moving environment. This navigation problem is of a novel nature and barely explored in the literature. The objective of this paper is to design a control strategy for drone reference tracking inside the moving environment. First, we provide an initial formulation of the problem where the non-inertial frame is assumed to have only a translation motion relative to the inertial reference frame. Then we derive the dynamic model of the drone in the non-inertial frame using the relative motion principle. After that, we use a combined Sliding mode controller and Extended Kalman Filter with Unknown Inputs (EKF-UI) for trajectory tracking. The EKF-UI enables to jointly estimates the states of the drone and the non-inertial frame accelerations. The sliding mode control laws are computed using the measured and estimated states to ensure the asymptotic convergence of the whole observer-based control strategy. The performance of the proposed observer-based control strategy is tested through simulation and experiment.",
keywords = "Extended Kalman Filter with Unknown Inputs, non-inertial frame, reference tracking, sliding mode, Unmanned Aerial Vehicles",
author = "Yasmine Marani and Kuat Telegenov and Eric Feron and Kirati, {Meriem Taous Laleg}",
note = "Funding Information: Research reported in this publication was supported by King Abdullah University of Science and Technology (KAUST) with the Base Research Funds (BAS/1/1627-01-01, BAS/1/1682-01-01), and KAUST AI-Initiative. The authors would also like to thank Mr. Olivier Toupet from the Jet Propulsion Laboratory for suggesting the idea for this research. Publisher Copyright: {\textcopyright} 2022 IEEE.; 41st IEEE/AIAA Digital Avionics Systems Conference, DASC 2022 ; Conference date: 18-09-2022 Through 22-09-2022",
year = "2022",
doi = "10.1109/DASC55683.2022.9925849",
language = "English (US)",
series = "AIAA/IEEE Digital Avionics Systems Conference - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2022 IEEE/AIAA 41st Digital Avionics Systems Conference, DASC 2022 - Proceedings",
address = "United States",
}