This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is formulated as a quadratic program that computes dynamically consistent generalized accelerations subject to underactuation, actuator bounds, and system constraints. To enhance robustness against disturbances, modeling uncertainties, and steady-state errors, a passivity-based integral action is incorporated at the torque level without compromising feasibility. The effectiveness of the proposed approach is demonstrated through high-fidelity physics-based simulations, which include parameter perturbations, viscous joint friction, and realistic sensing and state-estimation effects. This demonstrates accurate tracking, smooth control inputs, and reliable constraint satisfaction under realistic operating conditions.

翻译：本文提出一种面向欠驱动空中机械臂的约束感知控制框架，在显式考虑安全性与可行性约束的同时，实现精确的末端执行器轨迹跟踪。该控制问题被构建为二次规划形式，在欠驱动特性、执行器边界及系统约束条件下计算动力学一致的广义加速度。为增强系统对干扰、建模不确定性与稳态误差的鲁棒性，在力矩层级引入基于无源性的积分环节，且不损害求解可行性。通过包含参数摄动、关节粘性摩擦及真实传感与状态估计效应的高保真物理仿真，验证了所提方法的有效性。实验结果表明，该方法在真实工况下能实现精确跟踪、平滑控制输入及可靠的约束满足。