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| Technique | Applied on | Limitations | References |
|
| Adaptive control-based regulation, pole-placement, and tracking (RST) control law | QUAV with 2 DOF gripper | (1) Sudden fluctuations are experienced due to variation in altitude
(2) Sluggish in grasping the objects (need an improvement for fast grasp) | [53] |
| Adaptive time delay control (ATDC) scheme using a fractional-order nonsingular terminal sliding mode (FONTSM) | Cable-driven manipulators | (1) The tuning function for ATDC is a complex procedure
(2) The root means square error for joint 01/02 is 0.3 and 0.32. 5 chattering appears at torque responses in the presences of payload | [50] |
| Continuous nonsingular fast terminal sliding mode (CNFTSM) control scheme using a modified supertwisting algorithm (STA) | QUAV with a cable-driven manipulator | (1) The response experiences chattering in experimental work
(2) The software simulations also show some overshoots too
(3) There is also a steady-state error available for manipulator | [52] |
| A composite controller scheme using 02 subcontrol blocks (one for arm/gripper and second for QUAV), gain tuning method | QUAV with a cable-driven manipulator | (1) Gimbal lock due to Newton–Euler method
(2) Due to cosine and sine terms, the computation time increases; therefore, an expensive DSP kit is proposed for the algorithm
(3) The chattering phenomenon appears while real flight takes off and path planning | [48] |
| An adaptive terminal sliding mode controller for the trajectory tracking of robotic manipulators using radial basis function neural networks (RBFNNs) | Robotic manipulators | (1) In the presence of any disturbance factor, that is, wind disturbance, the robotic manipulator will be diverted from trajectory for some time and refollow the trajectory again | [49] |
| Combination of gain scheduling and Lyapunov-based model reference adaptive control (MRAC) | UAV for manipulation | (1) There is undershoot and overshoot in yaw angular velocity
(2) While performing pitch, the rotors experience oscillations for 10 seconds | [47] |
| Backstepping control design using an admittance subcontrol block for the manipulator design | Octa-copter UAV with 07 DOF manipulator | (1) Due to the change of the reference values, too fast several joints and their servos are not able to follow, and the response lags the reference for some time | [26] |
| Proportional integral derivative- (PID-) based wireless control of quadrotor at hovering state | Quadrotor with a payload of 250 grams | (1) The major shortcoming is the control using the Zigbee module which is sluggish and hence QUAV will never be able to perform aggressive maneuvers
(2) At the payload of 250 grams, the QUAV cannot balance itself in a hovering state | [46] |
| Nested controller scheme for attitude stabilization, vision-based navigation, and guidance, with the aerial gripping | QUAV with aerial gripping task | (1) There is an error in both hovering and path tracking states (i.e., the deviation in between ±13 cm). At outdoor operations, this error increases up to ±20 cm.
(2) During wind disturbance, the quadrotor deviates from the path for a few seconds and refollows the path again. | [27] |
| Direct approximate-adaptive control using cerebellar model arithmetic computer (CMAC) nonlinear approximators | Quadrotor with multiple payload variation | (1) There must not be extreme variation in payload mass, and this will lead to bursting or instability because of the previously trained weights | [45] |
| Discrete proportional integral derivative control design | QUAV with 4 g weight and 1 kg payload mass | (1) After visualizing the pitch and roll response, there are drastic oscillations in the output response due to the ground effect | [44] |
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