Attitude Control of Quadrotor Using PD Plus Feedforward Controller on SO (3)
Penulis/Author
ALMIDO H GINTING (1); Prof. Ir. Oyas Wahyunggoro, MT., Ph.D. (2); Dr.Eng. Ir. Adha Imam Cahyadi, S.T., M.Eng., IPM. (3)
Tanggal/Date
2018
Kata Kunci/Keyword
Abstrak/Abstract
This paper proposes a simple scheme of Proportional-Derivative (PD) plus Feedforward controller on SO(3) to control the attitude of a quadrotor. This controller only needs the measurement of angular velocity to calculate the exponential coordinates of the rotation matrix. With rotation matrix as an error variable of the controller, the simulation shows that the controller is able to drive the attitude of the quadrotor from hovering condition to desired attitude and from an attitude condition goes to the hovering condition, despite the system is disturbed. When the system is convergent, the rotation error matrix will be a 3x3 identity matrix.
Rumpun Ilmu
Teknik Kendali (Atau Instrumentasi dan Kontrol)
Bahasa Asli/Original Language
English
Level
Internasional
Status
Dokumen Karya
No
Judul
Tipe Dokumen
Aksi
1
21 Attitude control of quadrotor using PD plus feedforward controller on SO(3).pdf
[PAK] Full Dokumen
2
21 Similarity Attitude Control of Quadrotor Using PD Plus Feedforward Controller on SO (3).pdf
