  This paper presents an estimation and control algorithm for an aerial
manipulator using a hexacopter with a 2-DOF robotic arm. The unknown parameters
of a payload are estimated by an on-line estimator based on parametrization of
the aerial manipulator dynamics. With the estimated mass information and the
augmented passivity-based controller, the aerial manipulator can fly with the
unknown object. Simulation for an aerial manipulator is performed to compare
estimation performance between the proposed control algorithm and conventional
adaptive sliding mode controller. Experimental results show a successful flight
of a custom-made aerial manipulator while the unknown parameters related to an
additional payload were estimated satisfactorily.
