An Aerial Robot System with Neural Dynamic Controllers

In this paper, an aerial robot system with neural dynamic controllers is presented. The proposed aerial robot system consists of two parts, one is a multi-rotor aircraft, which enables the aerial robot to move in space, the other is a redundant servo manipulator for performing specific tasks. The hardware configuration of the aerial robot will be explained in detail. The PID control algorithm is used for designing the multi-rotor aircraft controller which avoids the requirements of complex model information and simplifies the design process. Furthermore, the neural dynamic method is used for designing the manipulator controller, which can make the end-effector of the manipulator perform time-varying tasks efficiently and accurately during the flight. Finally, both laboratory and outdoor experiments prove the reliability and feasibility of the aerial system.