The document presents a solution to executing aerial manipulation with multirotor helicopters by providing decoupled controllers that are proven to asymptotically stabilize the system along a desired trajectory. It addresses the UAV and aerial robot models separately, decomposing the control problem and designing an outer loop to track trajectories and inner loops to stabilize the system. The theoretical results are validated through experimental tests.

1. KTH ROYAL INSTITUTE
OF TECHNOLOGY
Decoupled Controllers for Mobile
Manipulation with Aerial Robots
Design, Implementation and Test
Riccardo Zanella

2. Riccardo Zanella

3. • Address the problem of executing aerial
manipulation with multirotor helicopter.
• Provide a solution that is proven to
asymptotically stabilize the system on the
desired trajectory.
• Validate the theoretical results achieved with
experimental tests.
Riccardo Zanella

4. 1. Trajectory tracking for the UAV
• UAV Model
• Control
2. Trajectory tracking for the Aerial Robot
• Aerial Robot Model
• Decomposition
• Control
3. Test
Riccardo Zanella

5. Translational
dynamics
Rotational
dynamics
System State:
Inputs:
Riccardo Zanella

6. Outer loop:
Riccardo Zanella

7. Inner loop:
Riccardo Zanella

8. Asymptotic Stability
Initial States
Riccardo Zanella

9. Translational dynamics
Rotational dynamics
Riccardo Zanella

10. Flight
Manipulation
System State:
Inputs:
Riccardo Zanella

11. Riccardo Zanella

12. Asymptotic Stability
Initial States
Riccardo Zanella

13. Riccardo Zanella

14. Free Flight Flight with
Manipulator
Manipulator
as Disturbance
Riccardo Zanella

15. Riccardo Zanella

16. Riccardo Zanella

17. KTH ROYAL INSTITUTE
OF TECHNOLOGY
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