Disturbances and Coupling Compensation for Trajectory Tracking of a Multi-link Aerial Robot

José de Jesus Castillo-Zamora (1) , Juan Escareño (2) , J. Alvarez (1) , Joanny Stephant (2) , Islam Boussaada (3)

1 L2S - Laboratoire des signaux et systèmes
2 XLIM-SRI - Systèmes et Réseaux Intelligents
3 DISCO - Dynamical Interconnected Systems in COmplex Environments

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.

Domaines: Automatique / Robotique

José de Jesus Castillo-Zamora, Juan Escareño, J. Alvarez, Joanny Stephant, Islam Boussaada. Disturbances and Coupling Compensation for Trajectory Tracking of a Multi-link Aerial Robot. 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019, Apr 2019, Paris, France. pp.738-743, ⟨10.1109/CoDIT.2019.8820513⟩. ⟨hal-02417127⟩