摘要：In the present work，the model of a tilted hexarotor with an attached 3 DOFmanipulator is derived and three different wrench observer concepts originally proposed forUnmanned Aerial Vehicles are extended for the entire aerial manipulator. The system modelas well as the observers are simulated in order to compare the performance of the differentobserver approaches under various conditions. An Extended Kalman Filter proves to fulfillbest the most relevant requirements,i.e. the estimation accuracy and the robustness againstmeasurement noise.Especially the noise reduction of the Extended Kalman Filter is far superiorto momentum-based and hybrid observer for the proposed system.
