Simulation and Technical Report on Adaptive Control for UAVs equipped with a Robotic Arm

This repository addresses the motion control challenges of an end effector attached to a quadrotor through a hierarchical control architecture. The work involves writing a comprehensive technical report and conducting simulations based on a research paper study. The control scheme and stability analysis play a crucial role in achieving effective motion control.

Figures

Fig.1 - End Effector Trajectory of the Manipulator

Fig.2 - Block Scheme of Control Architecture

Fig.3 - Position and Rotation Error between Obtained and Desired Trajectories

Fig.4 - End Trajectory

Feel free to explore the technical details and simulation results in the associated files. If you have any questions or suggestions, please don't hesitate to reach out.