Modeling and Control of an Aerial Multi-Cargo System: Robust Acquiring and Transport Operations | IEEE Conference Publication | IEEE Xplore

Modeling and Control of an Aerial Multi-Cargo System: Robust Acquiring and Transport Operations


Abstract:

In this paper, we introduce the concept of a multilink unmanned aerial system (ML-UAS) designed for multi-cargo transportation tasks. Such system features three links who...Show More

Abstract:

In this paper, we introduce the concept of a multilink unmanned aerial system (ML-UAS) designed for multi-cargo transportation tasks. Such 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.
Date of Conference: 25-28 June 2019
Date Added to IEEE Xplore: 15 August 2019
ISBN Information:
Conference Location: Naples, Italy

References

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