This work presents two control strategies based on a classic nonlinear H infinity controller and on a novel nonlinear W infinity controller for robust trajectory tracking of an unmanned aerial manipulator (UAM). The controllers are implemented in a hardware-in-the-loop (HIL) framework using the ProVANT simulator, which was developed on the Gazebo and Robot Operating System (ROS) platforms. In addition, the performance of these controllers is compared in order to highlight their advantages and disadvantages.
A hardware-in-the-loop simulator for physical human-aerial manipulator cooperation
