### Control method of quadrotor UAV with manipulator based on expert PID

• Received:2021-06-08 Revised:2021-08-05 Published:2021-09-17

### 基于专家PID的带臂四旋翼无人机控制方法

1. 桂林电子科技大学
• 通讯作者: 周祖鹏

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.

CLC Number: