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, Turkey, 20 September 2013, pp.26-32 identifier

  • 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.