Considering its agility and capability to vertical take-off and landing, quadrotor is beneficial for transporting missions. In this paper we present a model of a transporting quadrotor with payload uncertainties, as well as its corresponding proportional-derivative (PD) control on Special Orthogonal-3. Practically, it is a challenging problem to compensate the inertia perturbation due to the uncertainties of the payload that is transported. It is where our proposed control law comes to urge. Finally, numerical simulation and results are presented to verify the effectiveness of our proposed control law.
Robustness of PD control for transporting quadrotor with payload uncertainties
2017-07-01
434449 byte
Conference paper
Electronic Resource
English