Compared with the Unmanned Aerial Vehicle （UAV） without manipulator， the UAV with manipulator has large deviation in the flight trajectory and is more difficult to control stably. In order to solve the precise trajectory control problem of UAV with manipulator， a control method of quadrotor UAV with manipulator based on expert PID was proposed. Firstly， the manipulator was equipped to the UAV and the two was considered as a whole， and the kinematics and dynamics system models of UAV with manipulator was established through Lagrange equation. Secondly， an expert PID controller was designed to control the stability of the system. Thirdly， the trajectory planning of the manipulator of UAV with manipulator was carried out by using quintic polynomial. Finally， the effectiveness of expert PID control method for the stability control of UAV with manipulator is verified by simulation. The experimental results show that compared with conventional PID control， the proposed control method based on expert PID improves the response speed of the system and can effectively suppress external disturbances. This method can track the trajectory of the manipulator stably under the action， and has good immunity and robustness.

In order to improve the performance of the Particle Swarm Optimization (PSO), an adaptive range PSO with the Cauchy distributed population named ARPSO/C was proposed. The algorithm used the median and scale parameters to adjust self-adaptively the search range in population under the suppose of the individuals obeying the Cauchy distribution, thus balanced between local search and global search. The numerical comparison results on the proposed algorithm, ARPSO and PSO show that the presented algorithm has higher convergence speed and can overcome the prematurity.