Adaptive Control of Aerial Manipulation Vehicle

Adaptive Control of an Aerial Manipulation Vehicle
is discussed here. The aerial manipulation vehicle consisting of
a quadrotor and a robotic arm has a highly coupled dynamics.
The nonlinear coupling introduces additional forces and moments
on the quadrotor which prevents it from precisely hovering at
a position and tracking of reference trajectory. A decentralized
control of robotic arm and quadrotor is considered. The robotic
arm is controlled by a PID approach with acceleration feedback,
and the quadrotor is controlled by PD method in the inner loop
and adaptive position control in the outer loop. The proposed
method successfully handles the problem of hover stabilization
and trajectory tracking.