Stabilization Of Quadrotor on SO(3) With Robust Proportional-Derivative to Compensate CoG

In this paper, a robust PD controller for a quadrotor is presented. This controller is proposed for stabilizing the quadrotor with uncertain position of center of gravity (CoG), when the origin of quadrotor is placed in CoG. The exponential coordinates parameter is used to represent the attitude in dynamic and proposed control system, to avoid complexities and ambiguities associated with other attitude representations such as Euler angles or quaternions. The simulation results indicate that by designing an upper bound compensator for the uncertain position of CoG, the proposed control system can stabilize the hovering condition without the knowledge of the position of CoG.