Load adaptive control of a flying quadrotor manipulator

Abstract

This document develops the design of a load adaptive control for a quadrotor with a two Degree of Freedom manipulator integrated. The present studio supposes the motion of the manipulator under quasi-static assumptions. The designed control considers the coupling effects between the implicated subsystems, being able to adapt itself to the changing parameters caused by the motion of the manipulator, or by some object of uncertain mass grasped. The simulations demonstrate the correct implementation and operation of the control system designed.