Hierarchical control of aerial manipulation vehicle
Somasundar Kannan, Souad Bezzaoucha, Serket Quintanar Guzmán, Jan Dentler, Miguel A. Olivares-Méndez, Holger Voos · AIP conference proceedings · 2017
Hierarchical Control of the Aerial Manipulator is treated here. The modelling aspect of the highly coupled Aerial Vehicle which includes Quadrotor and manipulator is discussed. The control design to perform tasks in operational space is addressed along with stability discussion. The simulation studies are successfully performed to validate the design methodology.