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This paper addresses design, modeling and dynamic-compensation PID (dc-PID)control of a novel type of fully-actuated aerial manipulation (AM) system.Firstly, design of novel mechanical structure of the AM is presented. Secondly,kinematics and dynamics of AM are modeled using Craig parameters and recursionNewton-Euler equations respectively, which give rise to a more accurate dynamicrelationship between aerial platform and manipulator. Then, thedynamic-compensation PID control is proposed to solve the problem offully-actuated control of AM. Finally, uniform coupled matrix equations betweendriving forces/moments and rotor speeds are derived, which can support designand analysis of parameters and decoupling theoretically. It is taken intoaccount practical problems including noise and perturbation, parameteruncertainty, and power limitation in simulations, and results from simulationsshows that the AM system presented can be fully-actued controlled with advancedcontrol performances, which can not achieved theoretically in traditional AM.And with compared to backstepping control dc-PID has better control accuracyand capability to disturbance rejection in two simulations of aerial operationtasks with motion of joint. The experiment of dc-pid proves the availabilityand effectiveness of the method proposed.

Design, Modeling and Dynamic Compensation PID Control of a Fully-Actuated Aerial Manipulation System