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

TL;DR

This paper presents an autonomous control approach for a quadrotor-manipulator UAV using an extended dynamic model, active disturbance rejection, and optimized parameter tuning to improve stability and set-point tracking amid disturbances.

Contribution

It introduces an integrated control scheme combining ADRC and PD control with optimized parameters for quadrotor-manipulator systems.

Findings

Effective disturbance rejection demonstrated in simulations

Enhanced set-point tracking accuracy

Robust control performance under aerodynamic disturbances

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