Abstract
This research paper presents a model for the dynamics of an aerial manipulator consisting of a planar 2R manipulator attached to a quadcopter with an H-configuration. This research aims to develop a control strategy to ensure stable manipulation while the aerial manipulator is in flight. The paper presents an optimized PD controller for controlling joint space and a near-optimal parameter tuning procedure using the Broyden-Fletcher-Goldfarb-Shanno algorithm. Numerical experimental results show that the quadcopter can reach the desired position and the manipulator can manipulate in joint space, thus proving the effectiveness of the proposed control strategy. This research contributes to developing control strategies for aerial manipulators and provides a basis for future research.