Robust proportional-derivative control on SO(3) with disturbance compensation for quadrotor UAV

Sandiwan, Andreas P.; Cahyadi, Adha Imam; Herdjunanto, Samiadji

doi:10.1007/s12555-016-0452-5

Cited by 17 publications

(11 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A novel multivariable super-twisting algorithm to avoid the chattering effect generated by the integral sliding mode is presented in [13]. On the other hand, in [14], a robust controller to stabilize a quadrotor is proposed; the control law was based on the proportional-derivative control, and to obtain a better flight performance a disturbance compensation was introduced. The mathematical model that defines the UAV in [14] is rotation in SO (3).…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, in [14], a robust controller to stabilize a quadrotor is proposed; the control law was based on the proportional-derivative control, and to obtain a better flight performance a disturbance compensation was introduced. The mathematical model that defines the UAV in [14] is rotation in SO (3). It is worth mentioning that in [11][12][13][14][15] do not applying any adaptive controller.…”

Section: Introductionmentioning

confidence: 99%

“…The mathematical model that defines the UAV in [14] is rotation in SO (3). It is worth mentioning that in [11][12][13][14][15] do not applying any adaptive controller.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Trajectory Tracking with Adaptive Robust Control for Quadrotor

et al. 2021

View full text Add to dashboard Cite

This work proposes three robust mechanisms based on the MIT rule and the sliding-mode techniques. These robust mechanisms have to tune the gains of an adaptive Proportional-Derivative controller to steer a quadrotor in a predefined trajectory. The adaptive structure is a model reference adaptive control (MRAC). The robust mechanisms proposed to achieve the control objective (trajectory tracking) are MIT rule, MIT rule with sliding mode (MIT-SM), MIT rule with twisting (MIT-Twisting), and MIT rule with high order sliding mode (MIT-HOSM).

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Trajectory Tracking with Adaptive Robust Control for Quadrotor

et al. 2021

View full text Add to dashboard Cite

show abstract

“…In the past few years, a large number of literatures have been presented by the researchers around the world for the quadrotor UAV control problem. An ordinary proportional-derivative control and a disturbance compensation control scheme was proposed for quadrotor UAV in Sandiwan, Cahyadi, and Herdjunanto (2017),…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control for a quadrotor UAV via extended state observer

Gai

Liu

et al. 2018

Systems Science & Control Engineering

View full text Add to dashboard Cite

In this paper, the PD-type trajectory tracking controllevnr with the extended state observer (ESO) is proposed for the quadrotor unmanned aerial vehicle (UAV) to deal with the wind disturbance. A sixdegree-of-freedom quadrotor UAV model with the hyperbolic tangent saturation function is built. The trajectory tracking problem for the quadrotor can be divided into the position and attitude loop. Then, the PD-type trajectory tracking controller with the ESO is designed in the position and attitude loop to compensate the effect of the wind disturbance. And the stability of the system is proved by the circle criterion. Simulation results are given to demonstrate the effectiveness of the proposed method.

show abstract

“…For single quadrotor, a globally defined model on SO(3) is introduced in [15,16], and based on it the geometric tracking controller is provided. In [17] the proportional-derivative control on SO(3) was presented with disturbance compensation. The attitude dynamics was 2 Mathematical Problems in Engineering regarded as second-order systems on SO(3) in [18], and the coordinated attitude control of rigid bodies is studied with undirected communication topology.…”

Section: Introductionmentioning

confidence: 99%

Event-Based Formation Control of Multiple Quadrotors on SO(3)

Dong

Mingyu

Wang

et al. 2018

Mathematical Problems in Engineering

View full text Add to dashboard Cite

This paper is concerned with the formation problem of multiple quadrotors, and an event-based control strategy is proposed. The communication topology and relative positions of formation are first considered, and then the model of multiple quadrotors system is developed on the special orthogonal group SO(3). By designing the trigger function, certain events are generated for each quadrotor. Then, the formation controller is driven to update its parameters according to the events. The attitude controller on SO(3) is designed for tracking of the command and stabilization. By the proposed method continuous communication is not required between quadrotors, and it is proved that the quadrotors could achieve the desired formation. Simulation illustrates that the proposed event-based formation control method is effective.

show abstract

Robust proportional-derivative control on SO(3) with disturbance compensation for quadrotor UAV

Cited by 17 publications

References 12 publications

Trajectory Tracking with Adaptive Robust Control for Quadrotor

Trajectory Tracking with Adaptive Robust Control for Quadrotor

Trajectory tracking control for a quadrotor UAV via extended state observer

Event-Based Formation Control of Multiple Quadrotors on SO(3)

Contact Info

Product

Resources

About