Robust Observer-based Trajectory Tracking Control for Unmanned Aerial Manipulator

• Published in: International journal of control, automation, and systems Vol. 21; no. 2; pp. 616 - 629
• Main Authors: Liang, Jiacheng, Chen, Yanjie, Lai, Ningbin, He, Bingwei
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.02.2023; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Control; Engineering; Manipulators; Mechatronics; Motion control; Regular Papers; Robot arms; Robotics; Robust control; Tracking control; Trajectory control; Unmanned aerial vehicles; 제어계측공학; robust observer-based control framework; separate control strategy; unmanned aerial manipulator (UAM); Onboard active manipulator (OAM)

This paper aims at the stable motion control problem of the unmanned aerial manipulator (UAM) with internal interactions and external environment disturbances, and proposes a robust observer-based trajectory tracking control framework. Considering the large-dimensional nonlinearity and underactuated...