Leader/Follower Force Control of Aerial Manipulators

This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing cooperative manipulation task. Each UAM consists an Vehicle (UAV) with attached serial-link robotic manipulator. The Recursive Newton-Euler dynamics formulation is employed to account for interaction between UAV its overall system couple UAMs carrying load. coupling these systems due exerted forces by their manipulators through object characterized stiffness matrix. A control scheme stability-analysis tailored UAM-pair. leader defines trajectory moving while follower acts so as reduce system's internal reaction forces. Simulation studies are validate controller's performance comparing response against that derived from classical nonlinear tracking controller.