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
@article{arxiv.1910.09052,
title = {Autonomous Control of a Quadrotor-Manipulator; Application of Extended State Disturbance Observer},
author = {Kabir Abdulmajeed},
journal= {arXiv preprint arXiv:1910.09052},
year = {2019}
}