Aerial manipulators are composed of a robotic arm installed on an unmanned aerial vehicle and are used in several applications because of their inherent ability in performing complex tasks. In real-world applications, these systems are required to be robust against exogenous disturbances, such as wind, to guarantee the desired level of accuracy in the execution of the tasks. In this paper, the reference scenario consists of an aerial manipulator with a camera mounted on the end-effector of the robotic arm, and the goal is to track a fast-moving target. A control system architecture able to assure that the tracking error remains bounded even in the presence of external disturbances is illustrated. The proposed approach is based on the compensation of the dynamic coupling between the robotic arm and the unmanned aerial vehicle. Stability is analytically proved, and the effectiveness of the proposed control solution is shown with some simulations.

空中机械手由安装在无人飞行器上的机械臂组成，由于其执行复杂任务的固有能力而被用于多种应用。在实际应用中，要求这些系统对外部干扰（例如风）具有鲁棒性，以确保执行任务时具有所需的精确度。在本文中，参考方案由一个空中机械手和一个安装在机械臂末端执行器上的摄像头组成，目标是跟踪快速移动的目标。示出了一种即使在存在外部干扰的情况下也能够确保跟踪误差仍然受限的控制系统架构。所提出的方法是基于对机械臂与无人机之间的动态耦合的补偿。