This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled agent--payload differential--algebraic system that explicitly captures contact wrenches, payload dynamics, and internal force redundancy. A leader--follower architecture is adopted in which a designated leader generates a desired payload wrench based on geometric tracking errors, while the remaining agents realize this wrench through constraint-consistent force allocation.
Unknown disturbances and modeling uncertainties are compensated using Gaussian Process (GP) regression. High-probability bounds on the learning error are explicitly incorporated into the control design, combining GP feedforward compensation with geometric feedback. Lyapunov analysis establishes uniform ultimate boundedness of the payload tracking errors with high probability, with an ultimate bound that scales with the GP predictive uncertainty.
Hook-Based Aerial Payload Grasping from a Moving Platform
Systems and Control Lab, HUN-REN Institute for Computer Science and Control（系统与控制实验室，HUN-REN计算机科学与控制研究所）；National Laboratory for Autonomous Systems（自主系统国家实验室）；Control Systems Group of the Eindhoven University of Technology（埃因霍温理工大学控制系统组）
Vibration Suppression in Collaborative Flexible Payload Manipulation Using Passive Force Control
VTT Technical Research Centre of Finland Ltd（芬兰VTT技术研究中心）；RP Technical University of Kaiserslautern（凯泽斯劳滕RP工业大学）；UK Atomic Energy Authority（英国原子能管理局）；University of Oulu（奥卢大学）
Fault-Tolerant Formation Tracking of Heterogeneous Multi-Agent Systems with Time-Varying Actuator Faults and Its Application to Task-Space Cooperative Tracking of Manipulators
Impedance and Stability Targeted Adaptation for Aerial Manipulator with Unknown Coupling Dynamics
Robotics Research Center, International Institute of Information Technology Hyderabad (IIIT-H)（印度海得拉巴国际信息技术学院机器人研究中心）；The University of Manchester（曼彻斯特大学）；Southeast University（东南大学）
Research Center for Intelligent Robotics, School of Automation, Northwestern Polytechnical University（智能机器人研究中心，自动化学院，西北工业大学）；Research Center for Intelligent Robotics, Shaanxi Province Innovation Team of Intelligent Robotic Technology, School of Astronautics, Northwestern Polytechnical University（智能机器人研究中心，陕西省智能机器人技术创新团队，航天学院，西北工业大学）
Multi-robot Aerial Soft Manipulator For Floating Litter Collection
GRVC Robotics Lab, Escuela Tecnica Superior de Ingenieria, Universidad de Sevilla（塞维利亚大学技术与工程学院机器人实验室）；Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty, University of Twente（特文特大学机器人与机电部门）；Inria, Univ. Rennes, CNRS, IRISA（法国国家信息与自动化技术研究院（Inria））；Department of Computer, Control and Management Engineering, Sapienza University of Rome（罗马大学计算机、控制与管理工程系）
Adaptive Gravity Compensation Control of a Cable-Driven Upper-Arm Soft Exosuit
Birla Institute of Technology and Science Pilani（皮拉尼贝拉理工学院）；PricewaterhouseCoopers（普华永道）；Indian Institute of Technology Delhi（印度理工学院德里分校）；All India Institute of Medical Sciences（全印医学科学学院）
On Optimal Event-Triggered Distributed Control for Stochastic Multi-Agent Systems via Reinforcement Learning
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；The Hong Kong University of Science and Technology（香港科技大学）；South China Normal University（华南师范大学）；KTH Royal Institute of Technology（皇家理工学院）
