This paper delves into the exploration of the modeling and control of a hexacopter-type UAV manipulator, intricately designed to interact with its environment. The combination of the hexacopter and manipulator gives rise to a sophisticated nonlinear dynamic system, wherein both entities exert a reciprocal influence on each other. The precise mathematical modeling of this intricate coupling assumes paramount significance for nonlinear control and comprehensive analysis, employing a centralized (global) modeling of the overall system (i.e. UAV + manipulator arm) while a decentralized approach has been considered for designing the controller. The system at hand presents formidable control obstacles, including the emergence of internal disturbances resulting from the manipulator’s arm interacting with the floating base, as well as variations in parameters induced by the arm’s movement during manipulation. To surmount these challenges, the paper proposes an adaptive control approach that harnesses the power of synergetic control theory to achieve precise trajectory tracking of the hexacopter while carrying the manipulator’s arm. This approach showcases robustness against uncertainties, encompassing the presence of a payload and internal disturbances caused by the manipulator’s arm on the hexacopter. Furthermore, it incorporates a coupled control architecture, coupled with online updates of control parameters, thus ensuring optimal performance and adaptability in real-time scenarios.
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