Abstract
This chapter is devoted to the control of helicopters equipped with manipulators. A robust \(H_{\infty }\) control system of the helicopter altitude is presented. Also the manipulator control is described. Next the coordinated control for the helicopter and manipulator is presented including vision-based object tracking and physical interaction with the environment. Finally experiments in grasping and transportation are presented.
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Bejar, M., Ollero, A., Kondak, K. (2019). Centralized Control of Helicopters with Manipulators. In: Ollero, A., Siciliano, B. (eds) Aerial Robotic Manipulation. Springer Tracts in Advanced Robotics, vol 129. Springer, Cham. https://doi.org/10.1007/978-3-030-12945-3_9
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DOI: https://doi.org/10.1007/978-3-030-12945-3_9
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