Robustness of PD control for transporting quadrotor with payload uncertainties
Penulis/Author
GILANG NUGRAHA P P (1); IBNU MASNGUT (2); Dr.Eng. Ir. Adha Imam Cahyadi, S.T., M.Eng., IPM. (3); Dr. Ir. Samiadji Herdjunanto, M.Sc. (4)
Tanggal/Date
2017
Kata Kunci/Keyword
Abstrak/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.
