Modeling and Control of an Aerial Multi-Cargo System: Robust Acquiring and Transport Operations
| Autor: | Jose J. Castillo-Zamora, Juan Escareno, O. Labbani, Islam Boussaada, K. Camarillo |
|---|---|
| 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), Tecnológico Nacional de México [Celaya], 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), Instituto Tecnológico de Celaya |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Scheme (programming language)
0209 industrial biotechnology Control objective Computer science 020208 electrical & electronic engineering Control (management) 02 engineering and technology Track (rail transport) Integral sliding mode [SPI.AUTO]Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Robot computer ComputingMilieux_MISCELLANEOUS computer.programming_language |
| Zdroj: | ECC 2019-European Control Conference ECC 2019-European Control Conference, Jun 2019, Naples, Italy. pp.1708-1713, ⟨10.23919/ECC.2019.8796045⟩ 2019 18th European Control Conference (ECC) 2019 18th European Control Conference (ECC), Jun 2019, Naples, Italy. pp.1708-1713, ⟨10.23919/ECC.2019.8796045⟩ ECC 2019-18th European Control Conference ECC 2019-18th European Control Conference, Jun 2019, Naples, Italy. pp.1708-1713, ⟨10.23919/ECC.2019.8796045⟩ ECC |
| DOI: | 10.23919/ECC.2019.8796045⟩ |
| Popis: | International audience; 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|