arXiv:2610.34454 · v1

Nonlinear Control of Aerial Manipulator

首次提交 2026-10-26 01:20

版本更新 2026-10-26 01:20

雷达观测 2026-10-29 00:36

摘要

This paper presents two controllers for a quadrotor equipped with a two-DOF robot manipulator that physically interacts with the environment. Cartesian impedance and adaptive sliding mode controllers are implemented and compared for a simple hovering task in the presence of some bounded disturbance. A full dynamic model is developed, and the two above controllers are implemented with the same initial conditions and desired position.

作者备注：5 pages, 9 figures, 2 tables