Kinematic Nonlinear Control of Aerial Mobile Manipulators

This work proposes a kinematic modeling and a kinematic nonlinear controller for an autonomous aerial mobile manipulator robot that generates saturated reference velocity commands for accurate waypoint path following. The dynamic compensation controller is considered through of a helicopter-inner-loop system to independently track four velocity commands: forward, lateral, up/downward, and heading rate; and arm-inner-loop system to independently track angular velocity commands. Stability and robustness of the complete control system are proved through the Lyapunov method. Finally, simulation results are presented and discussed, which validate the proposed controller.