Flight stability in an aerial redundant manipulator

A Buoyancy envelope can be used to compensate for the inherent instability of quadrotor UAVs by decreasing drift and increasing the moment of inertia of the rotorcraft. Also, computer-aided control was implemented and tested for controlling the aerial manipulator using a motion-capture system. The closed-loop controller compensates for the disturbances due to the dynamics of the manipulator and interaction force at the end-effector in the control of the UAV.