Abstract: Compared with the Unmanned Aerial Vehicle (UAV) without manipulator, the flight trajectory of the UAV with manipulator will have large deviation, and the stability control is difficult. In order to solve the precise trajectory control of UAV with manipulator, Firstly, the manipulator is carried on the UAV as a whole, and the kinematics and dynamics system model of UAV with manipulator is established through Lagrange equation. Secondly, an expert PID controller is designed to control the stability of the system. Furthermore, the trajectory planning of the manipulator of UAV with manipulator is carried out by using quintic polynomial. Finally, it is verified by simulation that the expert PID control method effectively realizes the stability control of UAV with manipulator. The results show that compared with the conventional PID control, the expert PID control method improves the response speed of the system and can effectively suppress the external disturbance. It can track the trajectory stably when the manipulator is actuated, and has good immunity and robustness.

Key words: Keywords: UAV with manipulator, expert PID, UAV, trajectory planning, interference, simulation

摘要： 相比未带臂的无人机而言，带臂无人机飞行轨迹会出现较大偏差，稳定控制比较难。为了解决带臂无人机的精确轨迹控制，首先使机械臂搭载在无人机上作为整体，并通过拉格朗日方程建立了带臂无人机运动学和动力学系统模型；其次设计专家PID控制器用于控制系统稳定；进一步利用五次多项式对带臂无人机的机械臂进行轨迹规划。最后通过仿真验证专家PID控制方法有效地实现了带臂无人机稳定控制。结果表明，相比于常规PID控制，专家PID控制方法提高了系统的响应速度，且能够有效的抑制外部扰动。对于机械臂作动情况下能够稳定的跟踪轨迹，具有很好的抗扰性和鲁棒性。

关键词: 带机械臂无人机, 专家PID, 无人机, 轨迹规划, 干扰, 仿真