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In this work, the autonomous control of a quadrotor-manipulator unmannedaerial vehicle is treated using an extended dynamic model. Due to persistentaerodynamic disturbances and dynamic couplings, the control of aquadrotor-manipulator unit is cumbersome. Active disturbance rejection control(ADRC) is proposed for the cancellation of the undesirable dynamics while a PDcontroller is developed for set-point tracking. Parameters were tuned usingGradient Descent-Sequential Quadratic Programming in Simulink designoptimization

Autonomous Control of a Quadrotor-Manipulator; Application of Extended State Disturbance Observer