Quadrotor attitude control design based on a unified SO(3) approach.
Abstract:
This paper proposes a two-phased problem reformulation approach to solve the quadrotor UAV attitude control problem. Given an initial attitude, the objective is to design...Show MoreMetadata
Abstract:
This paper proposes a two-phased problem reformulation approach to solve the quadrotor UAV attitude control problem. Given an initial attitude, the objective is to design a control to drive it toward a desired value. The first phase begins with the definition of three types of errors pertaining to attitude discrepancy, followed by the utilization of virtual control with which the dynamics of quadrotor's attitude and angular velocity are then unified under the framework of SO(3), rendering the original control problem much more transparent to tackle. Through cancellation of certain unwanted terms emerging from the unification process, entry-wise treatment of the remaining matrix dynamics is then employed in the second phase to transform it further into the stabilization problem of a 3-dimensional linear time-invariant system that is fairly easy to solve since to which standard feedback designs such as linear quadratic regulator and pole placement are readily applicable. In addition to the classical designs, a specialized and structurally simple controller is provided to reduce the number of gains. To account for system parametric uncertainties, external disturbances, and sensor measurement errors and noises, a second controller based on classical H∞ theory is presented to enhance the robustness of the design. A numerical example is given, and computer simulations are conducted to generate error and control trajectories to assess and compare the effectiveness of the presented designs.
Quadrotor attitude control design based on a unified SO(3) approach.
Published in: IEEE Access ( Volume: 9)
Funding Agency:
Department of Electrical Engineering, Chung Yuan Christian University, Taoyuan City, Taiwan
Jen-Te Yu was born in Hualien, Taiwan. He received the M.S. degree in aerospace engineering and electrical engineering from Wichita State University, USA, the M.S. degree in aerospace engineering and electrical engineering from the Georgia Institute of Technology, USA, and the Ph.D. degree in electrical engineering from National Taiwan University, Taiwan.
Since August 2016, he has been an Assistant Professor with the Depar...Show More
Jen-Te Yu was born in Hualien, Taiwan. He received the M.S. degree in aerospace engineering and electrical engineering from Wichita State University, USA, the M.S. degree in aerospace engineering and electrical engineering from the Georgia Institute of Technology, USA, and the Ph.D. degree in electrical engineering from National Taiwan University, Taiwan.
Since August 2016, he has been an Assistant Professor with the Depar...View more
Contents Department of Electrical Engineering, Chung Yuan Christian University, Taoyuan City, Taiwan
Jen-Te Yu was born in Hualien, Taiwan. He received the M.S. degree in aerospace engineering and electrical engineering from Wichita State University, USA, the M.S. degree in aerospace engineering and electrical engineering from the Georgia Institute of Technology, USA, and the Ph.D. degree in electrical engineering from National Taiwan University, Taiwan.
Since August 2016, he has been an Assistant Professor with the Department of Electrical Engineering, Chung Yuan Christian University (CYCU), Taiwan, where he currently serves as the Director for the Modern Control Laboratory. Prior to joining CYCU, he had worked in the industry for years in USA and Taiwan, as an Engineer and later as a Corporate Research and Development Manager. He has more than 30 publications in journals and conference proceedings, covering the areas of linear quadratic Gaussian (LQG) control over communication networks, model-free motion control, output feedback design of strictly positive real (SPR) systems, adaptive control, and optimal output feedback control. His recent research interests include networked control subject to sporadic packet dropout, linear quadratic regulator theory, consensus of multi-agent systems, and output feedback design of negative imaginary systems.
Jen-Te Yu was born in Hualien, Taiwan. He received the M.S. degree in aerospace engineering and electrical engineering from Wichita State University, USA, the M.S. degree in aerospace engineering and electrical engineering from the Georgia Institute of Technology, USA, and the Ph.D. degree in electrical engineering from National Taiwan University, Taiwan.
Since August 2016, he has been an Assistant Professor with the Department of Electrical Engineering, Chung Yuan Christian University (CYCU), Taiwan, where he currently serves as the Director for the Modern Control Laboratory. Prior to joining CYCU, he had worked in the industry for years in USA and Taiwan, as an Engineer and later as a Corporate Research and Development Manager. He has more than 30 publications in journals and conference proceedings, covering the areas of linear quadratic Gaussian (LQG) control over communication networks, model-free motion control, output feedback design of strictly positive real (SPR) systems, adaptive control, and optimal output feedback control. His recent research interests include networked control subject to sporadic packet dropout, linear quadratic regulator theory, consensus of multi-agent systems, and output feedback design of negative imaginary systems.View more