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… Click to show full abstract
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.
Journal Title: IEEE Transactions on Aerospace and Electronic Systems
Year Published: 2021
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