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Autonomous Control of a Quadrotor-Manipulator; Application of Extended State Disturbance Observer

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arxiv 1910.09052 v1 pith:QJEWAIAC submitted 2019-10-20 eess.SY cs.ROcs.SY

Kabir Abdulmajeed This is my paper · ORCID
classification eess.SYcs.ROcs.SY
keywords controlquadrotor-manipulatorautonomousdisturbancedynamicextendedactiveadrc
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In this work, the autonomous control of a quadrotor-manipulator unmanned aerial vehicle is treated using an extended dynamic model. Due to persistent aerodynamic disturbances and dynamic couplings, the control of a quadrotor-manipulator unit is cumbersome. Active disturbance rejection control (ADRC) is proposed for the cancellation of the undesirable dynamics while a PD controller is developed for set-point tracking. Parameters were tuned using Gradient Descent-Sequential Quadratic Programming in Simulink design optimization

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