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

The aim of this research is to present a model of a quadrotor Unmanned Aerial Vehicle (UAV) with input saturation, as well as its corresponding Proportional-Derivative (PD) control. PD control offers ease of design, simplicity, and reliability for the second-order system. A good example of the second-order system is quadrotor. Quadrotor is an underactuated system and it can not be stabilized mechanically. In order to stabilize its behavior along the desired state with input saturation, PD control algorithm on Special Orthogonal-3 (SO(3)) is proposed. The effectiveness of the proposed PD control algorithm can be verified by numerical simulation. Its result shows that the proposed PD controller quickly convergent to the desired attitude, although under input saturation.