Geometric modeling and control for the full-actuated aerial manipulating system

This paper proposes a geometric control scheme to stabilize the full-actuated mobile manipulating unmanned aerial system (MM-UAV) to a desired configuration. For this purpose, we firstly describe the kinematics and dynamics of the full-actuated mobile manipulating unmanned aerial system by incorporating the standard concepts from Lie group and Lie algebra. Then, a controller with a proportional derivative (PD) linear action and a nonlinear gravity compensating action is designed by introducing a Morse function. Finally, a number example is presented to demonstrate the effectiveness of the controller.