Disturbance rejection control of a quadrotor equipped with A 2 DOF manupilator

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Date

2013

Authors

Arıkan, Kutluk Bilge

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Department of Mechatronics Engineering
Our purpose in the program is to educate our students for contributing to universal knowledge by doing research on contemporary mechatronics engineering problems and provide them with design, production and publication skills. To reach this goal our post graduate students are offered courses in various areas of mechatronics engineering, encouraged to do research to develop their expertise and their creative side, as well as develop analysis and design skills.

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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.

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The Turkish Aerospace Industries, Inc. (TAI); FESTO; Star Teknik Electronic Equipments, Inc.

Keywords

ADRC, Disturbance, Manipulator, Quadrotor

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0

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20th Annual International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2013 -- 20th Annual International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2013 -- 20 September 2013 through 20 September 2013 -- Ankara -- 102276

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Start Page

26

End Page

32

URI

https://hdl.handle.net/20.500.14411/9384

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Scopus