Adaptive Synergetic Control of a Multi-rotor with a Manipulation Arm

This work offers a new control design for an aerial manipulation system consisting of a flying platform (multi-rotor) and a manipulator arm with n degrees of freedom based on synergetic control theory. The synergistic control’s design is initially created using known system characteristics. On the other hand, the manipulator interacts with the environment. When the robot end effector is in touch with the environment or carrying unknown payloads, external forces and moments must be included in the system equations of motion. So, for a multirotor-equipped manipulator arm under external perturbation, an adaptive synergetic control technique is presented to estimate the disturbance and assure the asymptotic stability of the adaptive synergetic control laws of the aerial manipulation system. Finally, numerical simulations and 3D trajectory tracking scenarios were used to show that the suggested approach is efficient.