Dynamic modeling and control for aerial arm-operating of a multi-propeller multifunction aerial robot

We proposed a multi-propeller multifunction aerial robot that is constructed by a quadrotor with two multi-DOF arms to enable aerial robotic operations. This paper addresses the dynamics and control problems for aerial arm-operation. The dynamic modeling considering the coupling between the arms and main-body subsystems is investigated using the Lagrange approach. The dynamics of the system are partitioned into the main-body dynamics, the arm dynamics, and the interaction dynamics. A composite controller consisting of amain-body sub-controller and an arm sub-controller are presented. Each sub-controller is designed based on the partitioned dynamics. The main-body sub-controller is designed using trajectory linearization control technique. This composite controller is appropriate for real-time implementation due to its simplicity. An optimal planning strategy that minimizes the interaction between main-body subsystem and arm subsystem is proposed. Experimental results are presented, verifying the effectiveness of the composite controller.