UKF–Based LQR Control of a Manipulating Unmanned Aerial Vehicle

Abstract

In this paper, modeling, control and state estimation of a manipulating unmanned aerial vehicle (UAV) consisting of a quadcopter equipped with a two degree-of-freedom robotic manipulator is discussed. In the first step, Euler–Lagrange approach is adopted to model the coupled dynamics of the quadcopter and its robotic manipulator. Having linearized the obtained model, a linear quadratic regulator is designed to achieve simultaneous control of the quadcopter and the manipulator. Finally, a UKF-based algorithm is employed to obtain state estimation of the system. For a case study, simulation results are presented to verify feasibility of the proposed approach.