Robust proportional-derivative control on SO(3) with disturbance compensation for quadrotor UAV
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
2017
Kata Kunci/Keyword
Abstrak/Abstract
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.
Rumpun Ilmu
Teknik Elektro
Bahasa Asli/Original Language
English
Level
Internasional
Status
Dokumen Karya
No
Judul
Tipe Dokumen
Aksi
1
03 Robust proportional-derivative control on SO(3) with disturbance compensation for quadrotor UAV.pdf
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2
04 Similarity Robust proportional-derivative control on SO(3) with disturbance compensation for quadrotor UAV.pdf
