Full-body multi-objective controller for aerial manipulation
Mina Kamel, Simone Comari, Roland Siegwart · 2016
In this paper we present an multi-objective dynamic controller for a micro-aerial vehicle (MAV) equipped with dextrous aerial manipulator. The MAV and the manipulator are considered as a multi-body system where the control input is generated for the MAV and the manipulator joints simultaneously, taking into account dynamic effects. The redundancy of the system is exploited by setting various desired tasks with associated priorities. The proposed controller is compared against classic control approach. Extensive simulation results are presented in Micro Aerial Vehicles Simulator “RotorS”.