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Robust Control of an Aerial Manipulator Interacting with the Environment ?

机译：与环境相互作用的空中机械手的鲁棒控制 ？

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This paper deals with the problem of modelling and controlling a vertical take-off and landing aircraft equipped with a lightweight robotic arm. This system is able to perform complex operations that require the physical interaction with the environment while remaining airborne. Once the dynamical model in the 3D case is provided, a control law able to let the degrees of freedom of the system to track a desired trajectory is derived. The proposed controller takes into account the interaction between the robotic arm and the aerial platform both during free-flight and in the presence of unknown contact forces deriving from the interaction with the environment. The effectiveness and main properties of the proposed control algorithm have been analytically investigated and then demonstrated with the help of an experiment.
机译：本文研究了对配备轻型机械臂的垂直起降飞机进行建模和控制的问题。该系统能够执行复杂的操作，这些操作需要与环境进行物理交互，同时还要保持空中运行。一旦提供了3D情况下的动力学模型，就会得出能够使系统的自由度跟踪所需轨迹的控制定律。所提出的控制器考虑了在自由飞行期间以及在存在与环境的交互作用而产生的未知接触力的情况下机械臂与空中平台之间的交互作用。对所提出的控制算法的有效性和主要特性进行了分析研究，然后借助实验进行了证明。

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