The paper titled Centroid vectoring control using aerial manipulator: Experimental results was presented by Antun Ivanović at the international conference IEEE International Conference on Unmanned Aircraft Systems within projects Specularia and AeRoTwin. The conference was held 11-14 June 2019 in Atlanta, USA.
This paper addresses the issues of aerial manipulation and its dynamic center of mass variations by deriving a control principle capable of exploiting this disturbance as a means to stabilize the UAV. The UAV utilizes both rotors variations and centroid vectoring for attitude control and the control structure was further augmented with position control. The main focus is on experimental validation of the system.