SOURCE-LINKED INTELLIGENCE
Contact-Aware Incremental Model Predictive Control for an Underactuated Aerial Manipulator
We present a robust contact-aware control framework for aerial writing on an underactuated platform. The framework combines nonlinear model predictive control (NMPC) for accurate end-effector position and normal-force tracking at small reference penetration depths, with consistent performance across controller tunings, with whole-body incremental nonlinear dynamic inversion (INDI) for robustness to frictional and aerodynamic disturbances during contact. The proposed controllers are validated on a quadrotor-based aerial manipulator with a rigid, single-link, one-degree-of-freedom (DoF) arm in s
Read original source ↗ Open in workspace
- recordType
- paper
- region
- Global
Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-10T15:03:02.000Z
First collected: 2026-09-20T19:02:05.452Z. This is not the publication date.