Stability Control of Quadrotor UAV with Manipulator
Chenghang Wang, Suping Zhao, Chaobo Chen, Alejandro Gutiérrez–Giles, Xiaohua Song, Kun Yan · 2024
Compared with Unmanned Aerial Vehicles (UAV), a UAV with a manipulator (UAVM) exhibits significant trajectory deviations. Due to the coupling of the UAV and the manipulator, the stable control of UAVM represents a challenging problem. To address this issue, a PID-based control approach is proposed. First, the dynamics of UAVM is developed using the Euler-Lagrange method. Second, a PID-based controller is designed to achieve stable control of UAVM. Finally, numerical simulations are carried out to verify the proposed approach. Simulation results show that the manipulator accurately track its trajectory while the stability of UAV is achieved.