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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/axuddyo44mp4co7cxda06bb5l
- Original: https://arxiv.org/abs/2610.34454

## Summary

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.