Observer-Based Robust Control for an Aerial Manipulator System under Unknown External Disturbances

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

This paper addresses the mathematical modeling and control of an aerial manipulator system comprising a quadrotor as the uncrewed aerial vehicle and a robotic arm as the manipulator. The dynamic model is established by identifying the overall center-of-mass velocity and the system's orientation as constraints, yielding a simplified, two-decoupled subsystems: a locked (overall translation) subsystem and a shape-space (actuation or overall rotation) subsystem, both subjected to external disturbances. Since the system is mechanically coupled, a critical challenge arises where constant bounded disturbances in the first subsystem manifest as time-varying, state-dependent disturbances in the second subsystem. Given that the quadrotor is inherently unstable, the movement of the robotic manipulator (RM) during flight can further jeopardize the stability of the entire QRM system if these disturbances and coupling effects are not effectively managed. To address this, we present a continuous nonlinear disturbance observer-based feedback control law, which enables the independent control of each subsystem while systematically eliminating cross-coupling effects. The efficacy of the proposed controller is validated through multiple simulations emulating practical operating conditions, thereby substantiating its real-world applicability and highlighting the core contributions of this work.

Links and sources

• Official / arXiv page
• PDF from original source

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