6D Pose Task Trajectory Tracking for a Class of 3D Aerial Manipulator From Differential Flatness

In this paper, the dynamics and control of a novel class of aerial manipulator for the purpose of end effector full pose trajectory tracking are investigated. The 6D pose of the end effector is set as a part of the flat output, from which the conditions that the system has the proposed flat output is obtained. The control law for the end effector tracking purpose is designed. The core part of the controller is an almost global controller in the configuration space of the system. From the transformation between the state space and the output space, the tracking control of the end effector in SE(3) is also achieved. The stability of the controlled system is analyzed. A numerical example is presented to demonstrate the theoretical analysis.