Integral Anti-Disturbance Control for Unmanned Aerial Manipulator Based on the Characteristic Model

In this paper, an integral anti-disturbance control scheme based on the characteristic model is presented for an unmanned aerial manipulator (UAM) to improve robustness against various disturbances. First, note that the disturbance upper bound must be either set as a fixed threshold or adaptively estimated in many recent researches, a characteristic modeling with the bounded identification error is introduced to avoid these drawbacks. Then, an integral controller for UAM is proposed to suppress disturbances. This controller is designed by the characteristic model using only the input-output data and thus does not require accurate system dynamic analysis. Furthermore, the finite-time stability of the control system is proved by the Lyapunov stability criterion. Finally, the results of comparative simulations and four real-world experiments verify the effectiveness of the proposed characteristic model-based control scheme in enhancing robustness against disturbances.