Preliminary results on quadrotor manipulation control

We propose controller for quadrotor with arm system. Quadrotor is underactuated which makes control problem difficult. Attached manipulator makes system dynamics complicate. To control end-effector position, we used passive decomposition and it provides decomposed dynamics. Using decomposed dynamics, we proposed backstepping-like controller to control end-effector position. Proposed controller achieve desired end-effector trajectory via underatuated system while moving manipulator. Simulation results are presented.