This paper derives a full dynamic model of UAV with a robotic arm and implements the following controlller:
- V. Lippiello and F. Ruggiero, Cartesian impedance control of a UAV with a robotic arm, in 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, Sep 2012.
A very similar control and dynamics can be found in my paper: Thapa S., Bai H. and Acosta J.A. Cooperative Aerial Load Transport with Force Control. IFAC Workshop on Networked & Autonomous Air & Space Systems, June, 2018