Robust Internal Model Control (IMC) for a Quadrotor with a Top-Mounted Manipulator

Multirotors are widely used in applications such as manipulation, filming, agriculture, and military operations. A robust control system is critical for stabilizing the multirotor and ensuring precise task execution. This paper introduces an Internal Model Control (IMC) strategy for a multirotor equipped with a robotic manipulator. We model the complete system, including the multirotor's six Degrees of Freedom (DoF), the manipulator, and the actuators. The IMC is designed and tuned using optimizing methods to manage the coupled dynamics of the system, improving stability and precision while mitigating uncertainties, disturbances, and noise. Extensive Software-in-the-Loop (SIL) and Hardware-in-the-Loop (HIL) simulations confirm the IMC's ability to deliver accurate control under varying conditions. Results show significant improvements in trajectory tracking and disturbance rejection. This study highlights the potential of IMC for Unmanned Aerial Manipulator (UAM) and complex aerial manipulation tasks, offering a practical solution for operations requiring high precision and reliability.