Robust Global stabilization of aerial continuum manipulation systems via hybrid feedback

Abstract

In this paper, the control problem of aerial continuum manipulation systems (ACMSs) is considered. This study introduces a new platform for ACMSs in which a quadrotor is equipped with a tendon-bent concentric tube continuum robot. The decoupled dynamic modeling of ACMSs is utilized to derive the proposed feedback control law. The control design process is split into two distinct control loops. In the first loop, a terminal synergetic controller is presented to control the continuum robot's tip to track the desired trajectory. In the second loop, an improved synergetic controller is introduced to control the position and velocity of the quadrotor, which ensures asymptotic stability of the origin of the error dynamic. Moreover, in this loop a hybrid feedback law is designed to operate with the improved synergetic controller, which overcomes topological obstructions and globally stabilizes the attitude of the quadrotor. Furthermore, the stability of the resultant closed-loop system is verified utilizing the Lyapunov stability theorem. The efficiency and advantages of the proposed controller are verified by a comparative analysis in simulations.