A descentralized approach for the aerial manipulator trajectory tracking

This work addresses the problem of controlling an Unmanned Aerial Manipulator, constrained to flight on a Cartesian plane, considering a decentralized approach. In this approach, the quadrotor dynamics is an exogenous disturbance for the manipulator and vice versa. The Unmanned Aerial Manipulator is composed of a quadrotor and a two degrees of freedom planar manipulator. The control design procedure has two steps. In the first step, it is proposed a decoupling controller to guarantee that the disturbances produced by the manipulator to the quadrotor, and vice versa, are indeed exogenous. The second step adapts a previously reported robust controller to command the quadrotor. Computed torque control is proposed to command the manipulator. The proposed solution is validated through numerical simulations and some preliminary experimental results.