Robust Proportional-derivative Control on SO(3) with Disturbance Compensation for Quadrotor UAV

被引：14

作者：

Sandiwan, Andreas P. ^{[1
]}

Cahyadi, Adha ^{[1
]}

Herdjunanto, Samiadji ^{[1
]}

机构：

[1] Univ Gadjah Mada, Dept Elect Engn & Informat Technol, Fac Engn, Jl Grafika 2, Yogyakarta 55281, Indonesia

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2017年 / 15卷 / 05期

关键词：

Disturbance compensation; proportional-derivative (PD) control; quadrotor; rotation in SO(3); ATTITUDE DYNAMICS; TRACKING CONTROL;

D O I：

10.1007/s12555-016-0452-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a control law that can counter both random disturbance and inertia matrix perturbation in quadrotor attitude stabilization. The control law consists of an ordinary proportional-derivative control and a disturbance compensation. The disturbance compensation is designed by creating a virtual force that always attracts the quadrotor's state variables back to the equilibrium point. Numerical simulations demonstrate that the control law can counter the effect of the disturbance and perturbation by reducing the upper bound of solution and reducing the vibration effectively.

引用

页码：2329 / 2342

页数：14

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