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Design, Modeling and Control of a Multi-Drone System for Aerial Manipulation

Abstract : A recent and exciting topic within the field of autonomous aerial vehicles is the interaction with the surrounding environment via in-flight manipulation, including retrieving, transport and deployment, which unveils an enormous potential vis-a-vis industrial and service applications. In this regard, the actual thesis focuses on the conception and energy-based dynamical study of a multi-link unmanned aerial system able to perform manipulation tasks. The study of the aforementioned robotic aerial system includes the control of the flying multi-link vehicle by the sliding mode control theory and the conception of Lyapunov-based controllers alongside the application of Kalman Filters for state and disturbances estimation. The last part of the thesis is devoted to the examination of time-delays effects on unmanned aerial systems. Detailed simulation results are provided to prove the effectiveness of the overall thesis proposal.
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Submitted on : Friday, September 16, 2022 - 1:02:11 AM
Last modification on : Monday, September 19, 2022 - 8:24:48 AM


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  • HAL Id : tel-03778595, version 1


José de Jesús Castillo Zamora. Design, Modeling and Control of a Multi-Drone System for Aerial Manipulation. Automatic Control Engineering. Université Paris-Saclay, 2021. English. ⟨NNT : 2021UPASG051⟩. ⟨tel-03778595⟩



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