Robust Tracking Control of Quadrotor Using a Nonlinear PID on Euclidean Group - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Mediterranean Journal of Measurement and Control Année : 2016

Robust Tracking Control of Quadrotor Using a Nonlinear PID on Euclidean Group

, (1) , (2)
1
2

Résumé

In this paper, we are presenting a new controller to deal with a tracking control of quadrotor vehicle. This controller allows moving within six translational and rotational degrees of freedom. Both of the dynamic model and the proposed control system are, globally, expressed in the special Euclidean group SE 3 to avoid the complexities and ambiguities associated with other attitudes representations. We designed our nonlinear geometric PID control to obtain the desirable closed loop properties. As a result, We succeeded to obtain an efficient controller that allows the quadrotor to follow the desired trajectory; even in the presence of external perturbation as wind blowing or with internal disturbance, caused either by the change of inertia matrix or by the mass. Numerical simulations, including realistic situations, evaluate this approach. We also compared between our results and those of previous works. \textcopyright 2016 SoftMotor Ltd.
Fichier non déposé

Dates et versions

hal-03702162 , version 1 (22-06-2022)

Identifiants

  • HAL Id : hal-03702162 , version 1

Citer

A. Benbouali, M. Tadjine, L. Chrifi-Alaoui. Robust Tracking Control of Quadrotor Using a Nonlinear PID on Euclidean Group. Mediterranean Journal of Measurement and Control, 2016, 12 (1), pp.529--536. ⟨hal-03702162⟩

Collections

U-PICARDIE LTI
12 Consultations
0 Téléchargements

Partager

Gmail Facebook Twitter LinkedIn More