This letter presents a robust integral of the sign of the error (RISE)-based controller for an
aerial manipulator consisting of a multi-rotor and a robotic arm which guarantees tracking …

This study aims to design a motion/force controller for an aerial manipulator which
guarantees the tracking of time-varying motion/force trajectories as well as the stability …

This study presents a new hardware design and control of a minimally actuated 5 control
degrees of freedom (CDoF) quadrotor-based tiltrotor. The proposed tiltrotor possesses …

This study presents a globally defined dynamics for a conventional multirotor equipped with
a single n-DOF manipulator using modified Lagrangian dynamics. This enables the …

Autonomous aerial manipulation requires the capability to handle inevitable dynamic
changes during physical interaction. Previously, very few studies have addressed the …

Aerial physical interaction (APhI) with a multirotor-based platform such as pushing a heavy
object demands generation of a sufficiently large interaction force while maintaining the …

A new disturbance observer based control scheme is developed for a quadrotor under the
concurrent disturbances from a lightweight elastic tether cable and a lumped vertical …

In the last decade, UAVs endowed with manipulators have increased in their ability to
complete complex tasks such as manipulating doors and drawers. Very recent work also …

The necessity for aerial manipulation while grasping a fixed point is on the rise to broaden
the range of tasks that can be performed with flying robots such as plug-pulling or drawer …