Disturbance rejection control of a quadrotor equipped with A 2 DOF manupilator
20th Annual International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2013, Ankara, Turkey, 20 September 2013, pp.26-32, (Full Text)
- Publication Type: Conference Paper / Full Text
- City: Ankara
- Country: Turkey
- Page Numbers: pp.26-32
- Keywords: ADRC, Disturbance, Manipulator, Quadrotor
- TED University Affiliated: No
Abstract
In this study Active Disturbance Rejection Control (ADRC) is implemented for the attitude dynamics of the quadrotor flying platform. Quadrotor model with a 2 DOF manipulator is constructed. External disturbances, manipulator dynamics and internal plant dynamics are treated as total disturbance which are estimated and rejected in simulation environment.