Experimental Results of Simulating the Motion Control of Air Manipulation Systems

The chapter presents the results of modeling the stability of an unmanned aerial vehicle in the hover mode when the manipulator moves. The simulation was carried out in the absence of external disturbances and their impact. The experiments were carried out in the developed UAVmanipulatorModeling program, which provides calculation and visualization of the trajectories of the movement of the center of mass of the manipulator and its end working mechanism. When studying the horizontal shift of the center of mass of the manipulator, its maximum value is analyzed and the end of the movement of the manipulator under the influence of disturbing factors that cause instability of the entire aerial manipulation system. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.