Attitude and altitude stabilization of a microcopter equipped with a robotic arm

In this paper, a dynamic model of six degrees of freedom microcopter equipped with a robotic arm has been formulated using Newton-Euler's method. This microcopter configuration wasn't covered in scientific papers before. The resulting model is a nonlinear, coupled, and underactuated dynamic model, which includes aerodynamic effects and disturbances because of equipping the microcopter with a robotic arm that affects its motion in the air. The disturbances were generated using two random algorithms. An accurate and detailed mathematical model of a microcopter type UAV was derived, and the problems of nonlinearity and coupling of parameters were studied. The disturbances were included by simulating a robotic arm connected to the microcopter. The derived complex mathematical model was implemented using LabVIEW. After analyzing the correlations for all parameters of motion equations, the controllers for stabilizing the altitude and attitude of the aircraft were designed and implemented.