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Dynamic Decentralized Control for Protocentric Aerial Manipulators

Abstract : We present a control methodology for underactuated aerial manipulators that is both easy to implement on real systems and able to achieve highly dynamic behaviors. The method is composed by two parts: i) a nominal input/state trajectory generator that takes into account the full-body dynamics of the system exploiting its differential flatness property; ii) a decentralized feedback controller acting on the actuated degrees of freedom that confers the needed robustness to the closed-loop system. We demonstrate that the proposed controller is able to precisely track dynamic trajectories when implemented on a standard hardware. Comparative experiments clearly show the benefit of using the nominal input/state generator.
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Contributor : Antonio Franchi <>
Submitted on : Saturday, February 25, 2017 - 10:08:16 PM
Last modification on : Thursday, June 10, 2021 - 3:06:36 AM
Long-term archiving on: : Friday, May 26, 2017 - 12:25:54 PM


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  • HAL Id : hal-01476817, version 1


Marco Tognon, Burak Yüksel, Gabriele Buondonno, Antonio Franchi. Dynamic Decentralized Control for Protocentric Aerial Manipulators. 2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p. ⟨hal-01476817⟩



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