Modeling and Adaptive Controlling of Quadrotor UAV with Flexible Gripper

Abstract

At present, most of the applications of unmanned aerial vehicles (UAVs) are limited to the monitoring level. If a 2-degree of freedom (DOF) flexible gripper is installed at the bottom of the UAV fuselage, and the UAV's attitude stability control function is combined with the soft gripper function, the application of this UAV grasping system that can interact with the environment will be more extensive and comprehensive. For the attitude control and position trajectory tracking of quadrotor UAV with gripper, a model reference adaptive controller (MRAC) is proposed. The slowly time-varying part of the disturbance encountered during flight is adaptively estimated and compensated. When the model is uncertain and subject to external interference, the proposed model reference adaptive control algorithm can improve the robustness of attitude control and trajectory tracking control. Compared with proportion-integral-derivative (PID) control and traditional sliding mode control, the article shows that the former outperforms the latter in stabilization and tracking tasks.