Nonlinear Control of a Multilink Aerial System and ASEKF-Based Disturbances Compensation
José de Jesus Castillo-Zamora, J. Escareño, Islam Boussaada, Joanny Stéphant, Ouiddad Labbani-Igbida · IEEE Transactions on Aerospace and Electronic Systems · 2020
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.