This paper proposes an innovative ducted fan aerial manipulator, which is particularly suitable for the tasks in confined environment, where traditional multirotors and helicopters would be inaccessible. The dynamic model of the aerial manipulator is established by comprehensive mechanism and parametric frequency-domain identification. On this basis, a composite controller of the aerial platform is proposed. A basic static robust controller is designed via H-infinity synthesis to achieve basic performance, and an adaptive auxiliary loop is designed to estimate and compensate for the effect acting on the vehicle from the manipulator. The computer simulation analyses show good stability of the aerial vehicle under the manipulator motion and good tracking performance of the manipulator end effector, which verify the feasibility of the proposed aerial manipulator design and the effectiveness of the proposed controller, indicating that the system can meet the requirements of high precision operation tasks well.

中文翻译：

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具有串联风管风扇的创新型空中机械手：建模，控制和仿真

本文提出了一种创新的管道风扇空中操纵器，该操纵器特别适合于无法使用传统多旋翼飞机和直升机的狭窄环境中的任务。通过综合机制和参数频域识别，建立了航空机械手的动力学模型。在此基础上，提出了一种高空作业平台的复合控制器。通过H-无穷大综合来设计基本的静态鲁棒控制器，以实现基本性能，并设计自适应辅助回路，以估计和补偿机械手对车辆的影响。计算机仿真分析表明，飞行器在机械手运动下具有良好的稳定性，并且机械手末端执行器具有良好的跟踪性能，