Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the manipulator makes it difficult to control the aerial manipulator with high performance. In this paper, system modeling and control problem of the aerial manipulator are studied. Firstly, an UAV dynamic model is proposed with consideration of the dynamic coupling from an attached manipulator, which is treated as disturbance for the UAV. In the dynamic model, the disturbance is affected by the variable inertia parameters of the aerial manipulator system. Then, based on the proposed dynamic model, a disturbance compensation robust $H_{\infty}$ controller is designed to stabilize flight of the UAV while the manipulator is in operation. Finally, experiments are conducted and the experimental results demonstrate the feasibility and validity of the proposed control scheme.

翻译：空中机械臂由无人机（UAV）和多连杆机械臂组成，可实现空中作业，展现出巨大的应用潜力。然而，无人机与机械臂之间的动态耦合使得实现高性能控制变得困难。本文研究了空中机械臂的系统建模与控制问题。首先，考虑附接机械臂带来的动态耦合（将其视为对无人机的扰动），提出了一种无人机动力学模型。在该动力学模型中，扰动受空中机械臂系统变惯性参数的影响。然后，基于所提出的动力学模型，设计了一种扰动补偿鲁棒$H_{\infty}$控制器，以在机械臂运行过程中稳定无人机的飞行。最后，通过实验验证了所提控制方案的可行性和有效性。