Proportional Derivative Active Force Control for “X Configuration Quadcopter

Niam Tamami, Endra Pitowarno, I Gede Puja Astawa

Abstract

This paper present a control method “x configuration quadcopter. The control method used PDAFC (Proportional Derivative Active Force Control). PD is used to stabilize quadcopter, and AFC is used to reject uncertainty disturbance (e.g. wind) by estimate disturbance torque value of quadcopter. By adding PD with AFC, better result is obtained, AFC can minimize uncertainty disturbance effect. The sensitivity toward uncertainty disturbance can be set from sensitivity constant to get best performance of disturbance rejection. Stability analysis of PDAFC was evaluated by Lyapunov stability theory.




Keywords



Full Text:

PDF


References


Bouabdallah et al. "PID vs LQ control techniques applied to an indoor micro quadrotor." Intelligent Robots and Systems, 2004.(IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on. Vol. 3. IEEE, 2004, pp.2451-2456. crossref

Li, Jun, and Yuntang Li. "Dynamic analysis and PID control for a quadrotor."Mechatronics and Automation (ICMA), 2011 International Conference on. IEEE, 2011, pp. 573-578. crossref

Mokhtari et al. "Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle." Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on. Vol. 3. IEEE, 2004, pp. 2359-2366. crossref

Gupte et al. "A survey of quadrotor Unmanned Aerial Vehicles." Southeastcon, 2012 Proceedings of IEEE. IEEE, 2012, pp. 1-6. crossref

Erginer et al."Modeling and PD control of a quadrotor VTOL vehicle." Intelligent

Vehicles Symposium, 2007 IEEE. IEEE, 2007, pp. 894-899. crossref

Pounds et al."Modelling and control of a large quadrotor robot." Control Engineering Practice 18.7 Elsevier, pp. 691-699, 2010. crossref

Tayebi, A., and S. McGilvray. "Attitude stabilization of a four-rotor aerial robot." Decision and Control, 2004. CDC. 43rd IEEE Conference on. Vol. 2. IEEE, 2004, pp. 1216-1221. crossref

Sumantri et al. "Robust tracking control of a quad-rotor helicopter utilizing sliding mode control with a nonlinear sliding surface." Journal of System Design and Dynamics 7, no. 2, pp. 226-241, 2013. crossref

Ming Chen and Mihai Huzmezan, “A combined MBPC/2DOF H∞ controller for a quadrotor UAV�, Proceeding of AIAA guidance, navigation, and control conference and exhibit, Texas- USA, 11-14 August 2003.

Estiko Rijanto, “Robust control: theory for application�, ISBN: 979-9299-12-8, Bandung: ITB Press, 2000.

Pitowarno, Endra. "An implementation of a knowledge-based system method to an active force control robotic scheme." Master Thesis, Universiti Teknologi Malaysia, 2002.

Katsura, Seiichiro et al. "Modeling of force sensing and validation of disturbance observer for force control." Industrial Electronics, IEEE Transactions on 54, no. 1, pp. 530-538, 2007. crossref

Chen, Wen-Hua. "Disturbance observer based control for nonlinear systems." Mechatronics, IEEE/ASME Transactions on 9, no. 4, pp. 706-710, 2004. crossref

Bouabdallah et al."Design and control of an indoor micro quadrotor." Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on. Vol. 5. IEEE, 2004, pp. 4393-4398. crossref

Benallegue, A. et al. "Feedback linearization and high order sliding mode observer for a quadrotor UAV." Variable Structure Systems, 2006. VSS'06. International Workshop on. IEEE, 2006, pp. 365-372. crossref

Ni’am Tamami et al."Modelling and PD control for “x� configuration quadcopter." Indonesian Symposium on Robot Soccer Competition, 2013. Proceedings. Dian Nuswantoro University. ISBN:979-26-0264-X, Semarang: Dian Nuswantoro University Press, 2013, pp. 98-103.


Article Metrics

Metrics Loading ...

Metrics powered by PLOS ALM

Refbacks

  • There are currently no refbacks.




Copyright (c)