Adaptive control system for quadrotor equiped with robotic arm

This article proposes a new control design of quadrotor with attached 2-DOF robotic arm. Proposed adaptive control law is based on combined application of feedback linearization and consecutive compensator methods. Real time computation of the inertia tensor, center of mass position and the reactive torque generated by the manipulator is used to compensate the mutual influence of the system parts. The usefulness of the method is demonstrated by simulation results of the system with external perturbations in comparison with widespread PD controller.