Quadrotor Proportional-Derivative Control on SO(3) with Input Saturation

Herdjunanto, Samiadji; Pratama, Gilang Nugraha Putu; Sandiwan, Andreas P.; Cahyadi, Adha Imam

doi:10.1109/seatuc.2018.8788855

Cited by 3 publications

(3 citation statements)

References 16 publications

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“…This phenomenon is known as singularity. It leads to the gimbal-lock problem, where the quadrotor losses one DoF (degree-of-freedom), since yaw-axis and roll-axis are aligned [9].…”

Section: Introductionmentioning

confidence: 99%

Robust Proportional-Derivative Control on SO(3) for Quadrotor under Inertia Perturbation

Setiawan

Hidayatullah

Pratama

2022

J. Phys.: Conf. Ser.

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The presence of inertia perturbation should not be ignored, it may harm the stability of quadrotor. There are many causes, one of them is due to the payload attached to the quadrotor. Here, the inertia perturbation comes from the payload that subject to the laying position and the mass. Although unknown, the mass and position of payload are limited to certain value. In this paper, we provide the robust Proportional-Derivative (PD) control of a quadrotor while considering the inertia perturbation. The control law is designed by generating torques in SO(3) group which will regulate the angles and the angular velocity to reach the equilibrium points. In the same time, the inertia perturbation is countered by a proposed compensator. The effectiveness of the control law is clarified by using numerical simulation. The results show that the control law prevails in stabilizing the quadrotor in both nominal condition and the condition under inertia perturbation. It is verified that the proposed control law can stabilize the quadrotor despite being under inertia perturbation.

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“…This phenomenon is known as singularity. It leads to the gimbal-lock problem, where the quadrotor losses one DoF (degree-of-freedom), since yaw-axis and roll-axis are aligned [9].…”

Section: Introductionmentioning

confidence: 99%

Robust Proportional-Derivative Control on SO(3) for Quadrotor under Inertia Perturbation

Setiawan

Hidayatullah

Pratama

2022

J. Phys.: Conf. Ser.

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“…The input saturation is one of the key factors to affect the UAV flight stability [22]. A PD control algorithm of UAV is proposed on special orthogonal-3 so as to quickly converge to the desired attitude under input saturation [23]. A suboptimal integral sliding mode controller is designed where the state dependent Riccati equation is used to tackle the input saturation via online feedback [24].…”

Section: Introductionmentioning

confidence: 99%

UAV based adaptive trajectory tracking control with input saturation and unknown time‐varying disturbances

Zhou

Tian

Lin

2022

IET Intelligent Trans Sys

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This paper proposes an adaptive control method for an underactuated complex nonlinear system, that is, unmanned aerial vehicle (UAV), to realize high‐precision trajectory tracking under input saturation constraint and other disturbances via artificial neural network and anti‐saturation auxiliary system. First, the rigid body motion theory is applied to establish a simplified nonlinear dynamic model of the UAV. Then a Lyapunov function is designed with the error surface to form the preliminary control law based on dynamic surface control. Afterwards, a radical basis function neural network is developed and used to estimate and compensate the disturbance, while the input saturation is also addressed via the designed anti‐saturation auxiliary system. Thus the stability and signal consistency of the closed‐loop UAV control system can be proved via the Lyapunov stability theory with appropriately tuned parameters. Simulation experiments are performed to verify that the proposed control algorithm can be used for UAV high‐precision trajectory tracking under time‐varying disturbances.

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“…Thus the control input saturation is an important factor which could affect the flight stability of the UAV [24]. To stabilize UAV flight along with the desired status with input saturation, a PD (proportionalderivative) control algorithm is proposed on special Orthogonal-3 to quickly converge to the desired attitude [25]. A suboptimal integral sliding mode controller (ISMC) is designed where the state dependent Riccati equation can be used for online feedback of the input saturation [26].…”

Section: Introductionmentioning

confidence: 99%

UAV adaptive trajectory tracking control under unknown time-varying disturbance and input saturation

Zhou¹,

Tian²

2021

Preprint

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In this paper, the flight control of the Unmanned aerial vehicle (UAV) is discussed with the proposed adaptive dynamic surface control method owing to its underactuated and non-linear characteristics. The proposed control algorithm is based on radial basis function (RBF) neural network and anti-saturation auxiliary system to realize high-precision trajectory tracking under time-varying disturbances and input saturation. First, the nonlinear dynamic model of the UAV with disturbances is established with the aid of rigid body motion theory. With the adoption of the dynamic surface control algorithm, the error surface and the Lyapunov function are defined to design the preliminary control law of the designed controller. Then the RBF neural network is introduced to estimate and compensate the disturbance. Further, an anti - saturation module is designed to tackle the problem of input saturation. By using the Lyapunov stability theory, it is proved that the stability and signal consistency of the closed-loop system are bounded, along with the constrained conditions of the control parameters. Simulation experiments have been performed and the results demonstrate that the proposed control algorithm has high-precision trajectory tracking ability and strong anti-disturbance capability under the input saturation constraint with high control performance.

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Quadrotor Proportional-Derivative Control on SO(3) with Input Saturation

Cited by 3 publications

References 16 publications

Robust Proportional-Derivative Control on SO(3) for Quadrotor under Inertia Perturbation

Robust Proportional-Derivative Control on SO(3) for Quadrotor under Inertia Perturbation

UAV based adaptive trajectory tracking control with input saturation and unknown time‐varying disturbances

UAV adaptive trajectory tracking control under unknown time-varying disturbance and input saturation

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