This thesis designs a method to control a quadrotor equipped with a robotic arm. The
arm has been developed in Institut de Rob otica i Inform atica Industrial (CSIC-UPC),
namely here IRI. During the project, an algorithm has been made as a rst approximation
to control a quadrotor that is working with the robotic arm. In order to compensate
the perturbations of the arm's dynamic, a NMPC algorithm has been chosen while others
have been discarded as it is discussed in the state of the art (PID, Linear Model
Predictive Control or LQR).
PID and model predictive control have been discarded because is not possible to handle
the nonlinearities of the system studied and reach the desired control objectives. Also
there are no possibilites to restrict the system using physical constraints. Finally, three
scenarios have been simulated and tested to verify the performances and robustness
of the designed method. A takeo maneuver, where the quadrotor reaches a speci c
altitude. A hover mode where the system should compensate the dynamics of the arm
while it is static or it is in movement. Finally, the quadorotor has to move to a speci c
point in the space while the arm it is static or in movement. The goal of the controller
is to reject the perturbation due the movement of the arm and stabilize the system.
This thesis presents the results obtained after simulating the designed controller with
the scenarios considered.
