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A P Sandiwan
Universitas Gadjah Mada
Computer Science & IT Electrical & Electronics Engineering

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Quadrotor Proportional-Derivative Regulation for onzero Set Point on SO(3) with Disturbance Compensation S Herdjunanto; A P Sandiwan; A I Cahyadi
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 3: EECSI 2016
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (959.497 KB) | DOI: 10.11591/eecsi.v3.1130

Abstract

Disturbance compensation is a challenging problem in quadrotor control, especially in nonzero set point regulation. This paper presents proportional-derivative regulation for nonzero set point 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.
Co-Authors A I Cahyadi S Herdjunanto