Paper: Robustness of PD control for transporting quadrotor with payload uncertainties


Robustness of PD control for transporting quadrotor with payload uncertainties

http://ieeexplore.ieee.org/document/8011844/

Abstract:
Considering its agility and capability to vertical take-off and landing, quadrotor is beneficial for transporting missions. In this paper we present a model of a transporting quadrotor with payload uncertainties, as well as its corresponding proportional-derivative (PD) control on Special Orthogonal-3. Practically, it is a challenging problem to compensate the inertia perturbation due to the uncertainties of the payload that is transported. It is where our proposed control law comes to urge. Finally, numerical simulation and results are presented to verify the effectiveness of our proposed control law.
  • Published in: Science and Technology - Computer (ICST), 2017 3rd International Conference on
  • Date of Conference: 11-12 July 2017
  • Date Added to IEEE Xplore: 17 August 2017
  • INSPEC Accession Number: 17103099
  • DOI: 10.1109/ICSTC.2017.8011844
  • Publisher: IEEE