@conference {62,
	title = {Dynamic decentralized control for protocentric aerial manipulators},
	booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2017},
	month = {05/2017},
	address = {Singapore, Singapore},
	abstract = {<p>We present a control methodology for underactuated aerial manipulators that is both easy to implement on real systems and able to achieve highly dynamic behaviors. The method is composed by two parts: i) a nominal input/state trajectory generator that takes into account the full-body dynamics of the system exploiting its differential flatness property; ii) a decentralized feedback controller acting on the actuated degrees of freedom that confers the needed robustness to the closed-loop system. We demonstrate that the proposed controller is able to precisely track dynamic trajectories when implemented on a standard hardware. Comparative experiments clearly show the benefit of using the nominal input/state generator.</p>},
	keywords = {aerial manipulator, decentralised control, differential flatness, motion control, protocentric aerial manipulators},
	doi = {10.1109/ICRA.2017.7989753},
	author = {Marco Tognon and Burak Y{\"u}ksel and Gabriele Buondonno and Antonio Franchi}
}
