Mathematical Modelling of Control and Simultaneous Stabilization of 3-DOF Aerial Manipulation System

A robotic manipulator mounted on unmanned aerial vehicle (UAV) is called an aerial manipulation system usually. Any movements of manipulator affect the stability of the UAV. In particular, the horizontal shift of the center of mass (COM) requires of the UAV the powerful controller that change forces of the propellers of quadrotor to bring the UAV to a stable state. To make manipulations by UAV it is important to save the center of mass of the aerial manipulation system in stable state. In this study, we developed a model of a manipulator to be mounted on a quadrotor. Fuzzy PID controller has been built to control of the manipulator. Control method takes into account joint space of robotic arm and unmanned aerial vehicle. The COM stabilization issue has been solved for manipulator motion. In experiments, the horizontal shift of COM of manipulator was less than 1 mm while picked up objects up to 0.15 kg of payload.

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