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

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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.

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Authors and Affiliations

  1. Department of Electrical Engineering and Information Technology, Faculty of Engineering, Universitas Gadjah Mada, Jl. Grafika 2, Yogyakarta, 55281, Indonesia

    Andreas P. Sandiwan, Adha Cahyadi & Samiadji Herdjunanto

Authors
  1. Andreas P. Sandiwan
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  2. Adha Cahyadi
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  3. Samiadji Herdjunanto
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Corresponding author

Correspondence to Samiadji Herdjunanto.

Additional information

Recommended by Associate Editor Hyo-Sung Ahn under the direction of Editor Myo Taeg Lim. The authors would like to thank the Faculty of Engineering, Universitas Gadjah Mada, for providing PPI grant to support this research.

Andreas P. Sandiwan obtained his bachelor degree Department of Electrical Engineering and Information Technology, Faculty of Engineering, Universitas Gadjah Mada, Indonesia. He started his undergraduate study in 2012, and finished it in 2016. His research interest involves control systems.

Adha Cahyadi obtained his bachelor degree from Department of Electrical Engineering (DEE), Faculty of Engineering, Universitas Gadjah Mada, Indonesia in 2002. Later he got his master in Control Engineering from KMITL in 2005, Thailand and Doctor of Engineering from Tokai University Japan in 2008. Currently he is serving DEE as the head of deparment. Dr. Cahyadi is an IEEE member. His research areas involves mechanical control systems, telemanipulation systems and unmanned aerial vehicles.

Samiadji Herdjunanto obtained his bachelor degree from Department of Electrical Engineering (DEE), Faculty of Engineering, Universitas Gadjah Mada (UGM). Later he got his master degree from Ohio State University, USA and doctoral degree from Universitas Gadjah Mada. Currently he is a faculty member of DEE UGM as associate professor. His research areas involves control, signal processing, fault detection, isolation and reconstruction.

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Sandiwan, A.P., Cahyadi, A. & Herdjunanto, S. Robust proportional-derivative control on SO(3) with disturbance compensation for quadrotor UAV. Int. J. Control Autom. Syst. 15, 2329–2342 (2017). https://doi.org/10.1007/s12555-016-0452-5

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  • DOI: https://doi.org/10.1007/s12555-016-0452-5

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