Answers are grounded in this paper and cite their sources.
In this paper a novel hierarchical motion control scheme for quadrotor aerial vehicles equipped with a manipulator is proposed. The controller is organized into two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the top layer. A simulation case study is developed to demonstrate the effectiveness of the approach in the presence of disturbances and unmodeled dynamics.
No takes yet. Share an insight, caveat, or question.
Arleo et al. (2013) studied this question.