Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance control capabilities. However, the coupling effect between the multi-rotor UAVs' movement poses a challenge to the entire system's control capability. We have proposed a new proxy-based super twisting control approach for quadrotor UAVs that mitigates the disturbance caused by moving manipulators. This approach helps improve the stability of the aerial manipulation system when carrying out hovering or trajectory tracking tasks. The controller's effectiveness has been validated through numerical simulation and further tested in the Gazebo simulation environment.

翻译：空中机械臂由配备六自由度伺服机器人臂的多旋翼飞行器组成。为实现机械臂运动过程中精确的位置与姿态控制，系统需具备高性能控制能力。然而，多旋翼无人机运动产生的耦合效应对整个系统的控制能力构成挑战。我们提出了一种新颖的基于代理的旋翼无人机超螺旋控制方法，该方法可有效抑制机械臂运动引起的扰动。该控制方法有助于提升空中作业系统在执行悬停或轨迹跟踪任务时的稳定性。通过数值仿真验证了控制器的有效性，并在Gazebo仿真环境中进行了进一步测试。