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

摘要

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.