Dynamic Modeling and Active Disturbance Rejection Control of Parallel Aerial Manipulator System

In this paper, a 6-DOF Stewart parallel manipulator is installed on a quad-rotor unmanned aerial vehicle in order to solve the problems of low flexibility and difficulty in high precision aerial operations. Based on the reaction force of telescopic legs, the dynamics model of the aerial manipulator system is derived by Newton Euler method. Considering the dynamic influence of the manipulator motion on the quad-rotor, a cascade PID controller is designed for the stabilization control and trajectory tracking control, and the linear quadratic regulator (LQR) method is used for parameter tuning. Based on the cascade structure, the active disturbance rejection controller is designed for the velocity loop and the angular velocity loop, the stability of the system is also analyzed. The results of simulation experiments show that the active disturbance rejection controller can effectively overcome the dynamic influence of the parallel aerial manipulator and obtain good performance.