Modeling and Control Simulation of Rotor UAV with Robotic Arm
Liang Zhang, Wentao Tang, Huixin Zhong, Gang Liu, Chao Feng, Yifu Cheng, Haoyan Yang, Jian Wu, Gang Cheng · 2025
Aiming at the control difficulties of quadrotor unmanned aerial vehicle (UAV) system[1], such as nonlinearity, strong coupling, and sensitivity to disturbances, the quadrotor UAV control method is introduced by introducing PID controller control[2], The kinematics model and dynamics model of the rotor UAV with robotic arm are established, and then, the PID control method is combined. Finally, the simulation model is built on the simulation platform and computer simulation is carried out, and the simulation results compared with the ADRC control[3]method show that the PID control method is more suitable for the control of rotary-wing UAV with robotic arm than ADRC, and it can still maintain stability in the case of external interference, and it has stronger robustness[4]and anti-interference ability.