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

2019/10/20 by Abdulmajeed, Kabir
#FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.1910.09052

Abstract

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

Related

• Vehicle Parameter Independent Gain Matrix Selection for a Quadrotor using State-Space Controller Design Methods
• Modelling, identification and geometric control of autonomous quadcopters for agile maneuvering
• Controller Design and Implementation of a New Quadrotor Manipulation System
• Command-filter-based trajectory-tracking control of quadrotor subject to internal and external disturbances
• Adaptive Controllers for Quadrotors Carrying Unknown Payloads