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, Türkiye, 20 Eylül 2013, ss.26-32, (Tam Metin Bildiri)
- 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.