Rotorcraft Aerial Manipulator Control Based on Improved ADRC

A rotorcraft aerial manipulator (RAM) system is composed of a rotorcraft unmanned aerial vehicle (RUAV) and a multi degree-of-freedom (DOF) manipulator. There exists strong coupling between the RUAV and the manipulator. Disturbances from the manipulator and external environment have great influence on the robustness of the UAV controller. To deal with this problem, an improved active disturbance rejection control (ADRC) strategy based on dynamic center of mass (COM) compensation is proposed. Finally, flying and grasping experiments are conducted, and the experimental results validate the effectiveness of the proposed control strategy and the reliability of our aerial manipulator system.