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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Conference papers
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https://hal.archives-ouvertes.fr/hal-02417127
Contributor : Joanny Stephant <>
Submitted on : Wednesday, December 18, 2019 - 8:42:41 AM
Last modification on : Tuesday, January 28, 2020 - 11:59:43 AM

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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. CoDIT 2019 - 6th International Conference on Control, Decision and Information Technologies, Apr 2019, Paris, France. pp.738-743, ⟨10.1109/CoDIT.2019.8820513⟩. ⟨hal-02417127⟩

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