The actual paper presents the modeling and control of a multi-link unmanned aerial system whose dynamics is computed by means of the Euler-Lagrange energy-based 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 trajectory-tracking controller fulfilling Lyapunov asymptotic stability is synthesized. A simulation stage is conducted to validate the effectiveness of the proposal.

中文翻译：

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多链路天线系统的非线性控制和基于 ASEKF 的干扰补偿

实际论文介绍了多链路无人机系统的建模和控制，其动力学是通过基于欧拉-拉格朗日能量的方法计算的。上述系统受到集总扰动的影响，集总扰动包括外部扰动和参数不确定性。设想了一种旨在估计内生和外生不确定性的增强状态扩展卡尔曼滤波器，并合成了满足李雅普诺夫渐近稳定性的轨迹跟踪控制器。进行模拟阶段以验证提案的有效性。