QP-Based Control of an Underactuated Aerial Manipulator under Constraints

• URL: http://arxiv.org/abs/2601.08523v1
• Date: Tue, 13 Jan 2026 13:05:36 GMT
• Title: QP-Based Control of an Underactuated Aerial Manipulator under Constraints
• Abstract summary: This paper presents a constraint-aware control framework for underactuated aerial manipulators.<n>It enables accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints.
• Score: 1.5984927623688912
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is formulated as a quadratic program that computes dynamically consistent generalized accelerations subject to underactuation, actuator bounds, and system constraints. To enhance robustness against disturbances, modeling uncertainties, and steady-state errors, a passivity-based integral action is incorporated at the torque level without compromising feasibility. The effectiveness of the proposed approach is demonstrated through high-fidelity physics-based simulations, which include parameter perturbations, viscous joint friction, and realistic sensing and state-estimation effects. This demonstrates accurate tracking, smooth control inputs, and reliable constraint satisfaction under realistic operating conditions.

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