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Aerial Manipulator Control Based on Linear Algebra and Lyapunov Theories

Abstract:

This study presents the design and simulation of two controllers for UAV trajectory tracking is carried out. The controllers considered for comparison were the kinematic controller and a controller based on linear algebra axioms through exhaustive simulations under different operational conditions. Relevant differences were found, especially when varying the sampling times, and in the behavior of the control actions and error correction of both controllers. The results reveal that the kinematic controller exhibits greater stability in the control signals, while the controller based on linear algebra shows a faster but more abrupt response, particularly in situations of changes in sampling times. It is highlighted that, as sampling times increase, the algebra-based controller exhibits a more abrupt and less stable response compared to the kinematic controller, emphasizing the need to carefully consider these variables in the development of control systems for UAVs.