  This thesis introduces a novel quadrotor manipulation system that consists of
2-link manipulator attached to the bottom of a quadrotor. This new system
presents a solution for the drawbacks found in the current quadrotor
manipulation system which uses a gripper fixed to a quadrotor. Unlike the
current system, the proposed system has a 6-DOF, and it provides enough
distance between the quadrotor and the object. System kinematics and dynamics
are derived. To study the feasibility of the proposed system, a quadrotor with
high enough payload to add the 2-link manipulator is constructed. Its
parameters are identified to be used in the simulation and controller design. A
CAD model is developed to calculate the mass and moments of inertia in an
accurate way. Direct relationships between Pulse Width Modulation and each of
the angular speeds, thrust forces, and drag moments of the rotors are
identified. A Direction Cosine Matrix complementary filter is used to estimate
the attitude of the quadrotor using the IMU measurements. Attitude
stabilization controller is designed based on feedback linearization technique
to test the identified parameters and the attitude estimation. The results of
the experiments show satisfactory accuracy of the identified structure
parameters, the identified rotor assembly parameters, and the attitude
estimation algorithm. A controller for the proposed system is designed based on
three control techniques: feedback linearization based PID control, direct
fuzzy logic control, and fuzzy model reference learning control. These
controllers are tested to provide system stability and trajectory tracking
under the effect of picking and placing a payload and the effect of changing
the operating region. Simulation results show that the fuzzy model reference
learning control technique has superior performance. The results indicate the
feasibility of the proposed system.
