|Robust Proportional-Derivative Control on SO(3) with Disturbance Compensation for Quadrotor UAV
Andreas P. Sandiwan, Adha Cahyadi, Samiadji Herdjunanto*
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2329-2342, 2017
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."
Disturbance compensation, proportional-derivative (PD) control, quadrotor, rotation in SO(3).