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Communication Dans Un Congrès Année : 2019

Modeling and Control of an Aerial Multi-Cargo System: Robust Acquiring and Transport Operations

Résumé

In this paper, we introduce the concept of a multi-link unmanned aerial system (ML-UAS) designed for multi-cargo transportation tasks. Such a system features three links who are actuated by four flying robots. We present in detail the dynamics modeling based on the Euler-Lagrange formulation. A preliminary control scheme based on robust Adaptive Integral Sliding Mode Control (AISMC) is applied considering the ML-UAS model uncertainties and external disturbances. The control objective is to follow/track avian-inspired acquiring patterns for acquiring operations. The effectiveness of the proposed strategy is validated by numerical simulations.
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Dates et versions

hal-02977735 , version 1 (25-10-2020)

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J. Castillo-Zamora, Juan Antonio Escareno, Islam Boussaada, Ouiddad Labbani, Karla Camarillo. Modeling and Control of an Aerial Multi-Cargo System: Robust Acquiring and Transport Operations. ECC 2019 - European Control Conference, Jun 2019, Naples, Italy. pp.1708-1713, ⟨10.23919/ECC.2019.8796045⟩. ⟨hal-02977735⟩
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