Accéder directement au contenu Accéder directement à la navigation
Communication dans un congrès

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.
Type de document :
Communication dans un congrès
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-02417127
Contributeur : Joanny Stephant <>
Soumis le : mercredi 18 décembre 2019 - 08:42:41
Dernière modification le : jeudi 9 juillet 2020 - 16:08:02

Identifiants

Citation

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⟩

Partager

Métriques

Consultations de la notice

90