Conference Paper: Quadrotor Proportional-Derivative Control on SO(3) with Input Saturation

Conference Paper

Abstract:
The aim of this research is to present a model of a quadrotor Unmanned Aerial Vehicle (UAV) with input saturation, as well as its corresponding Proportional-Derivative (PD) control. PD control offers ease of design, simplicity, and reliability for the second-order system. A good example of the second-order system is quadrotor. Quadrotor is an underactuated system and it can not be stabilized mechanically. In order to stabilize its behavior along the desired state with input saturation, PD control algorithm on Special Orthogonal-3 (SO(3)) is proposed. The effectiveness of the proposed PD control algorithm can be verified by numerical simulation. Its result shows that the proposed PD controller quickly convergent to the desired attitude, although under input saturation.

Published in: 2018 12th South East Asian Technical University Consortium (SEATUC)

Date of Conference: 12-13 March 2018

Date Added to IEEE Xplore: 08 August 2019

ISBN Information:

Electronic ISBN: 978-1-5386-5094-3

Print on Demand(PoD) ISBN: 978-1-5386-5095-0

INSPEC Accession Number: 18888143

DOI: 10.1109/SEATUC.2018.8788855

Publisher: IEEE

Conference Location: Yogyakarta, Indonesia, Indonesia

• IEEE Keywords
  • PD control ,
  • Rotors ,
  • Unmanned aerial vehicles ,
  • Reliability ,
  • Actuators ,
  • Mathematical model ,
  • Attitude control
• INSPEC: Controlled Indexing
  • attitude control ,
  • autonomous aerial vehicles ,
  • control system synthesis ,
  • helicopters ,
  • PD control ,
  • stability
• INSPEC: Non-Controlled Indexing
  • quadrotor Proportional-Derivative control ,
  • input saturation ,
  • PD control algorithm ,
  • quadrotor unmanned aerial vehicle ,
  • special orthogonal-3
• Author Keywords
  • Quadrotor ,
  • Unmanned Aerial Vehicle ,
  • PD control ,
  • input saturation ,
  • Special Orthogonal-3

Tweet