Article

Nonlinear Control of Aerial Manipulator Robots with a Quadrotor and a Two-DOF Robotic Arm

For a quadrotor equipped with a two-DOF robotic arm that can physically interact with its environment, this study implemented and compared two controllers: Cartesian impedance control and adaptive sliding mode control. Under bounded disturbances, both controllers performed a simple hovering task with the same initial conditions and target position, and were validated based on a full dynamics model.

Part of the event: Comparative Study of Dual Controllers for Hovering of a Quadrotor with Robotic Arm

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