Quadrotor Proportional-Derivative Stabilization on SO(3) with Disturbance Compensation
Penulis/Author
ANDREAS PRASETYANTO SANDIWAN (1); Dr.Eng. Ir. Adha Imam Cahyadi, S.T., M.Eng., IPM. (2); Dr. Ir. Samiadji Herdjunanto, M.Sc. (3)
Tanggal/Date
5 2016
Kata Kunci/Keyword
Abstrak/Abstract
Disturbance compensation is a challenging problem
in quadrotor control. Some approaches to handle disturbance
are wind effect modelling and taking upper bound of disturbance
into account. This paper presents proportional-derivative control
on SO(3) with disturbance compensation for quadrotor UAV.
Quadrotor nonlinear kinematics and dynamics model in SO(3)
are used to design the control law. Disturbance compensation
is added to the control law by using the upper bound of the
disturbance. The numerical simulation shows that the disturbance
compensation is able to counter the disturbance effect and
improve the bound of the state variables.
Rumpun Ilmu
Teknik Elektro
Level
Internasional
Status
Dokumen Karya
No
Judul
Tipe Dokumen
Aksi
1
38 Similarity Quadrotor Proportional-Derivative Stabilization on SO(3) with Disturbance Compensation.pdf
Cek Similarity
2
38 Quadrotor Proportional-Derivative Stabilization on SO(3) with Disturbance Compensation.pdf
