Control

In this chapter, we explore control approaches for aerial manipulation with fully actuated and omnidirectional aerial systems. Based on the models presented in Chap. 3 , we focus on the major categories of free-flight tracking control with an omnidirectional tilt-rotor flying base in Sect. 4.1, interaction control for contact force tracking with a rigidly mounted aerial manipulator in Sect. 4.2, and finally macro-micro control of an omnidirectional system with a delta manipulator for fast and precise end-effector tracking in Sect. 4.3.