Disturbances and Coupling Compensation for Trajectory Tracking of a Multi-link Aerial Robot
| Autor: | J. Alvarez, Jose J. Castillo-Zamora, Juan Escareno, Islam Boussaada, Joanny Stephant |
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| Přispěvatelé: | Laboratoire des signaux et systèmes (L2S), CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), Institut Polytechnique des Sciences Avancées (IPSA), 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), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Systèmes et Réseaux Intelligents (XLIM-SRI), Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS)-Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-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) |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Payload 020208 electrical & electronic engineering Equations of motion 02 engineering and technology Tracking (particle physics) [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science::Robotics 020901 industrial engineering & automation Control theory Dynamic Extension 0202 electrical engineering electronic engineering information engineering Trajectory Robot State observer ComputingMilieux_MISCELLANEOUS |
| Zdroj: | 2019 6th International Conference on Control, Decision and Information Technologies (CoDIT) 2019 6th International Conference on Control, Decision and Information Technologies (CoDIT), Apr 2019, Paris, France. pp.738-743, ⟨10.1109/CoDIT.2019.8820513⟩ CoDIT 2019-6th International Conference on Control, Decision and Information Technologies CoDIT 2019-6th International Conference on Control, Decision and Information Technologies, Apr 2019, Paris, France. pp.738-743, ⟨10.1109/CoDIT.2019.8820513⟩ CoDIT |
| Popis: | International audience; 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. |
| Databáze: | OpenAIRE |
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