Active vibration control of aerial vehicles

This Paper Presents A Scheme To Suppress The Vibration Of Manipulator Hand Mounted On The Bucket Of Aerial Vehicles. The Scheme Consists Of A Sliding Mechanism Attached To The Top Of The Boom To Introduce The Relative Displacement Between The Bucket And The Boom, And A Controller To Adjust The Relative Displacement. Equations Of Vibrating Motion For The Aerial Vehicle, Controller Design Based On The LQ Method And Disturbance Observer, And Numerical Simulations For Various Types Of Disturbance Force Are Shown.