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Article Dans Une Revue IEEE Transactions on Aerospace and Electronic Systems Année : 2020

Nonlinear Control of a Multi-Link Aerial System and ASEKF-Based Disturbances Compensation

Juan-Antonio Escareno
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Joanny Stephant
Ouiddad Labbani-Igbida

Résumé

The actual paper presents the modeling and control of a multi-link unmanned aerial system whose dynamics is computed by means of the Euler-Lagrange energy-based approach. The aforementioned system is subjected to lumped disturbances which comprise external disturbances and parametric uncertainties. An Augmented-State Extended Kalman Filter intended to estimate endogenous and exogenous uncertainties is conceived and trajectory-tracking controller fulfilling Lyapunov asymptotic stability is synthesized. A simulation stage is conducted to validate the effectiveness of the proposal.
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Dates et versions

hal-02978408 , version 1 (26-10-2020)

Identifiants

Citer

José de Jesus Castillo-Zamora, Juan-Antonio Escareno, Islam Boussaada, Joanny Stephant, Ouiddad Labbani-Igbida. Nonlinear Control of a Multi-Link Aerial System and ASEKF-Based Disturbances Compensation. IEEE Transactions on Aerospace and Electronic Systems, 2020, ⟨10.1109/TAES.2020.3034010⟩. ⟨hal-02978408⟩
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