Vision-based reduced-order adaptive control of aerial continuum manipulation systems

Abstract

In this paper, a vision-based control method for aerial continuum manipulation systems (ACMSs) is proposed. The objective of this paper is to design a proper controller for highly nonlinear and coupled aerial continuum manipulation system in the presence of uncertainties. This paper contributes by outlining the design of the first vision based adaptive control for ACMSs which circumvents the need for a priori knowledge of system dynamic model and allows robot and target positioning uncertainties. Using vision feedback in combination with adaptive control method enables effective treatment of nonlinearities, coupling and uncertainties present in typical ACMSs. Designing controller for such nonlinear systems in the absence of exact system model is quite challenging. To this end, reduced order adaptive method is proposed which is a computationally efficient technique. The simulation results demonstrate the performance of the proposed control method.