Next Article in Journal
Soft-Constrained MPC Optimized by DBO: Anti-Disturbance Performance Study of Wheeled Bipedal Robots
Previous Article in Journal
Remaining Useful Life Prediction of Electric Drive Bearings in New Energy Vehicles: Based on Degradation Assessment and Spatiotemporal Feature Fusion
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Machines
Volume 13
Issue 10
10.3390/machines13100915
machines-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Adaptive Backstepping Control of an Unmanned Aerial Manipulator

by
Muhammad Awais Rafique
,
Mohssen E. Elshaar
and
Alan F. Lynch
*
Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada
*
Author to whom correspondence should be addressed.
Machines 2025, 13(10), 915; https://doi.org/10.3390/machines13100915 (registering DOI)
Submission received: 26 August 2025 / Revised: 27 September 2025 / Accepted: 30 September 2025 / Published: 4 October 2025
(This article belongs to the Special Issue Nonlinear Dynamics in Mechanical Systems, Automation and Control)
Versions Notes

Abstract

This paper presents an adaptive backstepping feedback control design for an unmanned aerial manipulator (UAM) that consists of an unmanned aerial vehicle (UAV) with an attached robotic arm. The effect of the arm is treated as a disturbance force and torque, as well as a parametric uncertainty in inertial parameters. The proposed adaptive law guarantees disturbance rejection assuming constant parameters and disturbances. In practice, this assumption includes the case of fixed-arm configurations. To validate the control design, numerical simulations are performed, including a realistic pick-and-place scenario.
Keywords: unmanned aerial vehicle (UAV); unmanned aerial manipulation (UAM); motion control; stability analysis unmanned aerial vehicle (UAV); unmanned aerial manipulation (UAM); motion control; stability analysis

Share and Cite

MDPI and ACS Style

Rafique, M.A.; Elshaar, M.E.; Lynch, A.F. Adaptive Backstepping Control of an Unmanned Aerial Manipulator. Machines 2025, 13, 915. https://doi.org/10.3390/machines13100915

AMA Style

Rafique MA, Elshaar ME, Lynch AF. Adaptive Backstepping Control of an Unmanned Aerial Manipulator. Machines. 2025; 13(10):915. https://doi.org/10.3390/machines13100915

Chicago/Turabian Style

Rafique, Muhammad Awais, Mohssen E. Elshaar, and Alan F. Lynch. 2025. "Adaptive Backstepping Control of an Unmanned Aerial Manipulator" Machines 13, no. 10: 915. https://doi.org/10.3390/machines13100915

APA Style

Rafique, M. A., Elshaar, M. E., & Lynch, A. F. (2025). Adaptive Backstepping Control of an Unmanned Aerial Manipulator. Machines, 13(10), 915. https://doi.org/10.3390/machines13100915

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop