Global robust adaptive motion control for cable-driven aerial manipulators with input saturation

The research in this article explores global robust adaptive motion control for a cable-driven aerial manipulator in the presence of input saturation. The investigation begins by considering the physical attributes of the aerial manipulator and establishing a kinematic and dynamic model of the system with lumped disturbances. Following this, a new control law is formulated using the adaptive vector-backstepping technique, where the adaptive law offers continuous estimation of the virtual parameters. Moreover, a Gaussian error function is utilized to tackle the challenge of input saturation. The stability of the controller proposed is confirmed using Lyapunov theory. Ultimately, numerical simulations and experimental comparisons are conducted to validate the accuracy and effectiveness of the proposed control strategy.