Nonlinear Control of Aerial Manipulator
Overview & Synopsis
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.
Indexed from repository: arXiv
(
arxiv.org)
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Document Information
| Document Title | Nonlinear Control of Aerial Manipulator |
|---|---|
| Author / Organization | Sandesh Thapa |
| Subject & Discipline | eess.SY |
| Categories | Computer Science & Mathematics |
| Publication Year | 2026 |
| License / Rights | arXiv Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
arXiv
(arxiv.org)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-8548 |
| Original Source Link | Visit Source Page on arxiv.org » |