The actual article presents the modeling and control of a multilink unmanned aerial system whose dynamics is computed by means of the Euler–Lagrange 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 a trajectory-tracking controller fulfilling Lyapunov asymptotic stability is synthesized. A simulation stage is conducted to validate the effectiveness of the proposal.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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




    Publication date :

    2021-04-01


    Size :

    3911462 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    SUSPENTION OF MULTILINK

    CHA SEUNG HWAN | European Patent Office | 2016

    Free access

    Suspention Of Multilink

    European Patent Office | 2021

    Free access

    Linear and Nonlinear Kinematic Design of Multilink Suspension

    Jacobson, Bengt / Brandin, Tobias / Huang, Yansong | SAE Technical Papers | 2022


    Robust control of multilink flexible manipulators

    Theodore, Rex J. | Online Contents | 2003


    Multilink constant velocity joint

    FOSKEY CHRISTOPHER / STAMPS FRANK B / RAUBER RICHARD | European Patent Office | 2015

    Free access