Fuzzy Active Disturbance Rejection Control Technology for Quadcopter UAV in Flying Manipulator Arm

As the core content of the flight manipulator system to provide a stable platform for the operation of the manipulator and achieve accurate grasping, the attitude angle control must have strong anti-interference control ability. In order to improve the robustness of the aircraft, a fuzzy active disturbance rejection control strategy for the quadrotor in the flight manipulator system was proposed. Based on the fact that the traditional ADRC integrates fuzzy control logic into the design of the nonlinear error feedback control law, which reduces the difficulty of adjusting the parameters of the traditional ADRC, and the fal function is used in the design of the traditional ADRC extended state observer, when the deviation is large, the gain of the observer will increase sharply, resulting in the decrease of the anti-interference ability of the system. For the above problems, the faln function is used, when the error is large, this function limits the gain of the system, so as to enhance the immunity of the system. The attitude model of the quadcopter UAV was built in the MATLAB/Simulink simulation environment, and the simulation effect of the traditional PID attitude control was compared under the condition of interference. The simulation results show that the designed attitude controller has good anti-interference ability under the condition of external interference. According to the attribute information of the physical platform, a 1:1 virtual simulation model is built in Solidwork, which can be imported into the Gazebo virtual physical simulation platform to verify the control effect of the controller, providing a method for the virtual simulation of the flight manipulator. According to the attribute information of the physical platform, a 1:1 virtual simulation model is built in Solidwork, which can be imported into the Gazebo virtual physical simulation platform to verify the control effect of the controller, providing a method for the virtual simulation of the flight manipulator.