Control of an Aerial Manipulator using On-line Parameter Estimator for an Unknown Payload

摘要

This paper presents an estimation and control algorithm for an aerialmanipulator using a hexacopter with a 2-DOF robotic arm. The unknown parametersof a payload are estimated by an on-line estimator based on parametrization ofthe aerial manipulator dynamics. With the estimated mass information and theaugmented passivity-based controller, the aerial manipulator can fly with theunknown object. Simulation for an aerial manipulator is performed to compareestimation performance between the proposed control algorithm and conventionaladaptive sliding mode controller. Experimental results show a successful flightof a custom-made aerial manipulator while the unknown parameters related to anadditional payload were estimated satisfactorily.