Robust optimal nonlinear control strategies for an aerial manipulator

Júnio  E. de Morais; Daniel  Neri; Guilherme  V. Raffo

doi:10.48011/asba.v2i1.1616

Júnio E. de Morais Federal University of Minas Gerais
Daniel Neri Federal University of Minas Gerais
Guilherme V. Raffo Federal University of Minas Gerais

DOI: https://doi.org/10.48011/asba.v2i1.1616

Keywords: Unmanned aerial manipulator, Lagrangian systems, Robust control, Nonlinear control, Sobolev space

Abstract

This work presents two control strategies based on a classic nonlinear H∞ controller and on a novel nonlinear W infinity controller for robust trajectory tracking of an unmanned aerial manipulator (UAM). The controllers are implemented in a hardware-in-the-loop (HIL) framework using the ProVANT simulator, which was developed on the Gazebo and Robot Operating System (ROS) platforms. In addition, the performance of these controllers is compared in order to highlight their advantages and disadvantages.