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

摘要

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.