Anti-bump Switched Controller Design for Attitude Control of Aerial Robotic Manipulator
Jiawei Zhang, Liang Ye, Xinyu Liu, Chenxin Li, Qi Xing, Wenlong Song · 2025
This paper investigates the attitude control problem of a quad rotor with a robotic manipulator that can perform various tasks, where the movement of the manipulator affects the dynamic characteristics of the quadrotor, such as the center of mass and moment of inertia, introducing additional forces and torques. A dual-loop control framework, consisting of an inner angular velocity loop and an outer angle loop, is proposed to account for both quadrotor and manipulator dynamics. By selecting the robotic arm angles as the scheduling parameters, the angular velocity control loop is modeled as a switched linear parameter varying (sLPV) system. An anti-bump switched controller is designed for the quadrotor to prevent abrupt control input changes at mode switching instants in continuous-time when the robotic manipulator moves continuously, which has not been considered before. The effectiveness and advantages of the proposed controller are demonstrated through simulations.