  In this work, the autonomous control of a quadrotor-manipulator unmanned
aerial vehicle is treated using an extended dynamic model. Due to persistent
aerodynamic disturbances and dynamic couplings, the control of a
quadrotor-manipulator unit is cumbersome. Active disturbance rejection control
(ADRC) is proposed for the cancellation of the undesirable dynamics while a PD
controller is developed for set-point tracking. Parameters were tuned using
Gradient Descent-Sequential Quadratic Programming in Simulink design
optimization
