Decentralized Control of Aerial Manipulators Through a Momentum-Based Estimator

Abstract

Aerial Robotic Manipulators can be controlled either in a centralized or decentralized way. This Part of the book addresses the latter option, in which the aerial platform and the arm are controlled separately in a robust way to counteract the reciprocal disturbances. An estimator of such disturbances, based on the momentum of the system and acting on the unmanned aerial vehicle, is designed. Experiments validate the approach.