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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2601.08523 |
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Table of Contents:
- This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is formulated as a quadratic program that computes dynamically consistent generalized accelerations subject to underactuation, actuator bounds, and system constraints. To enhance robustness against disturbances, modeling uncertainties, and steady-state errors, a passivity-based integral action is incorporated at the torque level without compromising feasibility. The effectiveness of the proposed approach is demonstrated through high-fidelity physics-based simulations, which include parameter perturbations, viscous joint friction, and realistic sensing and state-estimation effects. This demonstrates accurate tracking, smooth control inputs, and reliable constraint satisfaction under realistic operating conditions.