  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 recursion
Newton-Euler equations respectively, which give rise to a more accurate dynamic
relationship between aerial platform and manipulator. Then, the
dynamic-compensation PID control is proposed to solve the problem of
fully-actuated control of AM. Finally, uniform coupled matrix equations between
driving forces/moments and rotor speeds are derived, which can support design
and analysis of parameters and decoupling theoretically. It is taken into
account practical problems including noise and perturbation, parameter
uncertainty, and power limitation in simulations, and results from simulations
shows that the AM system presented can be fully-actued controlled with advanced
control performances, which can not achieved theoretically in traditional AM.
And with compared to backstepping control dc-PID has better control accuracy
and capability to disturbance rejection in two simulations of aerial operation
tasks with motion of joint. The experiment of dc-pid proves the availability
and effectiveness of the method proposed.
