Impedance and Stability Targeted Adaptation for Aerial Manipulator with Unknown Coupling Dynamics
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arXiv
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| Autori principali: | , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866915224601231360 |
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| author | Sharma, Amitabh Gupta, Saksham Singh, Shivansh Pratap Yadav, Rishabh Dev Song, Hongyu Pan, Wei Roy, Spandan Baldi, Simone |
| author_facet | Sharma, Amitabh Gupta, Saksham Singh, Shivansh Pratap Yadav, Rishabh Dev Song, Hongyu Pan, Wei Roy, Spandan Baldi, Simone |
| contents | Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how effectively the impedance control can tackle the unavoidable coupling forces between the aerial vehicle and the manipulator. However, the existing impedance controllers for aerial manipulator either ignore these coupling forces (in partitioned system compliance methods) or require their precise knowledge (in complete system compliance methods). Unfortunately, such forces are very difficult to model, if at all possible. To solve this long-standing control challenge, we introduce an impedance controller for aerial manipulator which does not rely on a priori knowledge of the system dynamics and of the coupling forces. The impedance control design can address unknown coupling forces, along with system parametric uncertainties, via suitably designed adaptive laws. The closed-loop system stability is proved analytically and experimental results with a payload-catching scenario demonstrate significant improvements in overall stability and tracking over the state-of-the-art impedance controllers using either partitioned or complete system compliance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_01983 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Impedance and Stability Targeted Adaptation for Aerial Manipulator with Unknown Coupling Dynamics Sharma, Amitabh Gupta, Saksham Singh, Shivansh Pratap Yadav, Rishabh Dev Song, Hongyu Pan, Wei Roy, Spandan Baldi, Simone Systems and Control Robotics Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how effectively the impedance control can tackle the unavoidable coupling forces between the aerial vehicle and the manipulator. However, the existing impedance controllers for aerial manipulator either ignore these coupling forces (in partitioned system compliance methods) or require their precise knowledge (in complete system compliance methods). Unfortunately, such forces are very difficult to model, if at all possible. To solve this long-standing control challenge, we introduce an impedance controller for aerial manipulator which does not rely on a priori knowledge of the system dynamics and of the coupling forces. The impedance control design can address unknown coupling forces, along with system parametric uncertainties, via suitably designed adaptive laws. The closed-loop system stability is proved analytically and experimental results with a payload-catching scenario demonstrate significant improvements in overall stability and tracking over the state-of-the-art impedance controllers using either partitioned or complete system compliance. |
| title | Impedance and Stability Targeted Adaptation for Aerial Manipulator with Unknown Coupling Dynamics |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2504.01983 |