Due to the characteristics of nonlinearity, strong coupling and sensitive to disturbance in attitude control of quadrotor, a disturbance observer based attitude controller on SO(3) is proposed, which can estimate and compensate the disturbances. The stability of the system was proved by using the lyapunov stability theory. The simulation and experiment results demonstrate that the designed method can improve the attitude precision and responses in the presence of a relatively high perturbation.
Disturbance Observer Based Attitude Controller on SO(3) for Quadrotors
Lect. Notes Electrical Eng.
30.10.2021
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Disturbance Observer Based Attitude Controller on SO(3) for Quadrotors
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