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<p>Precise force tracking control is an essential research for the aerial manipulator. This paper proposes an intelligent force tracking control architecture combining an aerial force analysis (AFA)-based impedance strategy and a characteristic model-based data-driven controller. First, the AFA method is introduced to estimate the real-time contact force using only the system’s mass and attitude data, reducing cost and weight compared to force sensors while avoiding control input coupling and parameter sensitivity inherent in force observers. Second, a low-order discrete-time characteristic model, which compresses complete system dynamics into a small set of adaptive parameters, enables robust attitude controller without requiring dynamic modeling or estimation. The asymptotic stability of the proposed control system is rigorously proved using Lyapunov theory. Comparative real-world experiments validate the proposed scheme. Under strong coupling disturbances, the characteristic model-based controller reduces Mean Absolute Error (MAE) to 0.0073 m (<i>x</i>-axis) and 0.0133 rad (<InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="11071_2025_11596_Article_IEq1.gif" Format="GIF" Height="14" Rendition="HTML" Resolution="72" Type="Linedraw" Width="13" /> </InlineMediaObject> <EquationSource Format="TEX">\(\theta \)</EquationSource> <EquationSource Format="MATHML"><math> <mi>θ</mi> </math></EquationSource> </InlineEquation>-axis)–outperforming Extended State Observer (ESO) and Adaptive Sliding Mode (ASMC) controllers. For force tracking, the AFA-based impedance strategy achieves 21.1 % MAE and 22.7 % Root Mean Square Error (RMSE) reductions under constant force, and 27.4 % MAE/26.5 % RMSE reductions under sinusoidal force, compared to observer-based methods. These demonstrate the framework’s effectiveness for robust aerial contact missions.</p>

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Intelligent force tracking impedance control for aerial manipulator via characteristic model

  • 期刊论文

  • 发表日期：

    2025年7月18日

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  • Bingkai Xiu,
  • Zhan Li,
  • Bo Pang,
  • Xinghu Yu,
  • Yipeng Yang

摘要

Precise force tracking control is an essential research for the aerial manipulator. This paper proposes an intelligent force tracking control architecture combining an aerial force analysis (AFA)-based impedance strategy and a characteristic model-based data-driven controller. First, the AFA method is introduced to estimate the real-time contact force using only the system’s mass and attitude data, reducing cost and weight compared to force sensors while avoiding control input coupling and parameter sensitivity inherent in force observers. Second, a low-order discrete-time characteristic model, which compresses complete system dynamics into a small set of adaptive parameters, enables robust attitude controller without requiring dynamic modeling or estimation. The asymptotic stability of the proposed control system is rigorously proved using Lyapunov theory. Comparative real-world experiments validate the proposed scheme. Under strong coupling disturbances, the characteristic model-based controller reduces Mean Absolute Error (MAE) to 0.0073 m (x-axis) and 0.0133 rad ( \(\theta \) θ -axis)–outperforming Extended State Observer (ESO) and Adaptive Sliding Mode (ASMC) controllers. For force tracking, the AFA-based impedance strategy achieves 21.1 % MAE and 22.7 % Root Mean Square Error (RMSE) reductions under constant force, and 27.4 % MAE/26.5 % RMSE reductions under sinusoidal force, compared to observer-based methods. These demonstrate the framework’s effectiveness for robust aerial contact missions.