{
  "annotation_id": "d6850d98-a376-4e99-ae1d-c63d5ccbb181",
  "date_created": "2026-02-17T05:53:16.006000Z",
  "date_modified": "2026-02-17T05:53:16.006000Z",
  "file_hash": "87752ee5953a13a5fad1b0b15ffffefee4e77599858806d9100afc1fce09f345",
  "private": false,
  "record": {
    "abstract": "This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is formulated as a quadratic program that computes dynamically consistent generalized accelerations subject to underactuation, actuator bounds, and system constraints. To enhance robustness against disturbances, modeling uncertainties, and steady-state errors, a passivity-based integral action is incorporated at the torque level without compromising feasibility. The effectiveness of the proposed approach is demonstrated through high-fidelity physics-based simulations, which include parameter perturbations, viscous joint friction, and realistic sensing and state-estimation effects. This demonstrates accurate tracking, smooth control inputs, and reliable constraint satisfaction under realistic operating conditions.",
    "arxiv_id": "2601.08523",
    "authors": [
      "Nesserine Laribi",
      "Mohammed Rida Mokhtari",
      "Abdelaziz Benallegue",
      "Abdelhafid El-Hadri",
      "Mehdi Benallegue"
    ],
    "categories": [
      "cs.RO"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "title": "QP-Based Control of an Underactuated Aerial Manipulator under Constraints",
    "url": "https://arxiv.org/abs/2601.08523",
    "version": "v1"
  },
  "schema_id": "dorsal/arxiv",
  "source": {
    "execution_id": "1385eb2a-1f64-42a7-b8ca-5d34d7483a62",
    "id": "arXiv Dataset",
    "type": "Model",
    "variant": "snapshot-2026-01-17",
    "version": "0.1.0"
  },
  "user_id": 1000002
}