Attitude Control of UAV with Manipulator Using Adaptive PID

This paper describes the attitude control of Unmanned Aerial Vehicles (UAVs) equipped with a manipulator referred to as Unmanned Aerial Manipulators (UAMs). UAVs equipped with manipulators are expected to work on behalf of humans and to observe and investigate, but the effect of the motion reaction on control performance cannot be ignored when using the manipulator in a mission. Therefore, the control system must be designed to operate UAM so that these effects can be reduced or tolerated. The adaptive PID controller, which can deal with the parameter variations, is applied to the UAM in this study. We confirm the effectiveness of the controller through numerical simulation.