Comparative analysis of tracking controllers and dynamic compensation for aerial manipulators

Currently, Unmanned Aerial Manipulators (UAMs) are gaining significant attention in the robotics field due to their ability to perform complex manipulation tasks in dangerous or inaccessible environments. Recent developments in advanced control strategies have demonstrated that practical implementation of UAMs can enable precise selection, transportation, and placement of objects in space while maintaining operational safety. Building upon the comparative analysis of tracking controllers for UAMs conducted in previous works, this project focuses on developing a dynamic model for the existing UAM with a single-link robotic arm replaced by a OpenManipulator-X, a 4 Degree of Freedom(DoF) serial manipulator. The project aims to enhance the manipulator's operational capabilities by improving the control of its articulation while evaluating the performance implications of the extended configuration.