Disturbance rejection control of a quadrotor equipped with A 2 DOF manupilator

Aydemir M., Arıkan K. B., Irfanoǧlu B.

20th Annual International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2013, Ankara, Türkiye, 20 Eylül 2013, ss.26-32 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Ankara
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.26-32
  • Anahtar Kelimeler: ADRC, Disturbance, Manipulator, Quadrotor
  • TED Üniversitesi Adresli: Hayır

Özet

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.