Nonlinear Control of a Multi-Link Aerial System and ASEKF-Based Disturbances Compensation
| Autor: | Juan Escareno, Jose J. Castillo Zamora, Islam Boussaada, Ouiddad Labbani-Igbida, Joanny Stephant |
|---|---|
| Přispěvatelé: | Laboratoire des signaux et systèmes (L2S), CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), XLIM (XLIM), Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS), Dynamical Interconnected Systems in COmplex Environments (DISCO), Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire des signaux et systèmes (L2S), CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Augmented-State Extended Kalman Filter
020301 aerospace & aeronautics Disturbances Estimation/Compensation Computer science Multi-cargo Aerial Transportation Aerospace Engineering 02 engineering and technology Kalman filter Nonlinear control Compensation (engineering) [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science::Robotics Vehicle dynamics Extended Kalman filter 0203 mechanical engineering Control theory Multi-Link Unmanned Aerial System Stage (hydrology) Electrical and Electronic Engineering Parametric statistics Nonlinear Control |
| Zdroj: | IEEE Transactions on Aerospace and Electronic Systems IEEE Transactions on Aerospace and Electronic Systems, 2020, ⟨10.1109/TAES.2020.3034010⟩ HAL IEEE Transactions on Aerospace and Electronic Systems, Institute of Electrical and Electronics Engineers, In press |
| ISSN: | 0018-9251 |
| DOI: | 10.1109/TAES.2020.3034010⟩ |
| Popis: | International audience; 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|