3 papers
cs.RO2025
PreGME: Prescribed Performance Control of Aerial Manipulators based on Variable-Gain ESO
Mengyu Ji, Shiliang Guo, Zhengzhen Li +3
An aerial manipulator, comprising a multirotor base and a robotic arm, is subject to significant dynamic coupling between these two components. Therefore, achieving precise and rob…
cs.RO2025
Prespecified-Performance Kinematic Tracking Control for Aerial Manipulation
Huazi Cao, Jiahao Shen, Zhengzhen Li +2
This paper studies the kinematic tracking control problem for aerial manipulators. Existing kinematic tracking control methods, which typically employ proportional-derivative feedb…
cs.RO2025
Predictive Kinematic Coordinate Control for Aerial Manipulators based on Modified Kinematics Learning
Zhengzhen Li, Jiahao Shen, Mengyu Ji +2
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We…