Autonomous Control of a Quadrotor-Manipulator; Application of Extended State Disturbance Observer
This work addresses control challenges for quadrotor-manipulator systems, but it appears incremental as it applies known methods like ADRC and PD to a specific UAV setup.
The paper tackled the autonomous control of a quadrotor-manipulator UAV under aerodynamic disturbances and dynamic couplings by proposing an active disturbance rejection control (ADRC) with a PD controller, achieving parameter tuning via Gradient Descent-Sequential Quadratic Programming in simulation.
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