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Conference Papers Year : 2019

Disturbances and Coupling Compensation for Trajectory Tracking of a Multi-link Aerial Robot

Abstract

The actual paper presents the concept of a multi-link unmanned aerial system (ML-UAS) intended to transport multi-cargo payload. The mathematical model is obtained through the Euler-Lagrange energy-based while the controller relies on a classical linear scheme. The system is composed of three rotorcrafts attached by two bar like links. As the system is highly coupled, due to its inherent dynamics and cargo influences, a dynamic extension of the equations of motion to apply a Linear Kalman filter is proposed to meet the trajectory tracking specification. The suggested state observer is validated via close to reality numerical simulations.

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Dates and versions

hal-02417127 , version 1 (18-12-2019)

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José de Jesus Castillo-Zamora, Juan Escareño, J. Alvarez, Joanny Stephant, Islam Boussaada. Disturbances and Coupling Compensation for Trajectory Tracking of a Multi-link Aerial Robot. 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019, Apr 2019, Paris, France. pp.738-743, ⟨10.1109/CoDIT.2019.8820513⟩. ⟨hal-02417127⟩
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