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This thesis introduces a novel quadrotor manipulation system that consists of2-link manipulator attached to the bottom of a quadrotor. This new systempresents a solution for the drawbacks found in the current quadrotormanipulation system which uses a gripper fixed to a quadrotor. Unlike thecurrent system, the proposed system has a 6-DOF, and it provides enoughdistance between the quadrotor and the object. System kinematics and dynamicsare derived. To study the feasibility of the proposed system, a quadrotor withhigh enough payload to add the 2-link manipulator is constructed. Itsparameters are identified to be used in the simulation and controller design. ACAD model is developed to calculate the mass and moments of inertia in anaccurate way. Direct relationships between Pulse Width Modulation and each ofthe angular speeds, thrust forces, and drag moments of the rotors areidentified. A Direction Cosine Matrix complementary filter is used to estimatethe attitude of the quadrotor using the IMU measurements. Attitudestabilization controller is designed based on feedback linearization techniqueto test the identified parameters and the attitude estimation. The results ofthe experiments show satisfactory accuracy of the identified structureparameters, the identified rotor assembly parameters, and the attitudeestimation algorithm. A controller for the proposed system is designed based onthree control techniques: feedback linearization based PID control, directfuzzy logic control, and fuzzy model reference learning control. Thesecontrollers are tested to provide system stability and trajectory trackingunder the effect of picking and placing a payload and the effect of changingthe operating region. Simulation results show that the fuzzy model referencelearning control technique has superior performance. The results indicate thefeasibility of the proposed system.

Novel Quadrotor Manipulation System