Title :
Geometric nonlinear PID control of a quadrotor UAV on SE(3)
Author :
Goodarzi, Farhad ; Daewon Lee ; Taeyoung Lee
Author_Institution :
Mech. & Aerosp. Eng., George Washington Univ., Washington, DC, USA
Abstract :
Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of minimal attitude representations or ambiguity of quaternions. A new form of integral control terms is proposed to guarantee almost global asymptotic stability when there exist uncertainties in the quadrotor dynamics. A rigorous mathematical proof is given. Numerical example illustrating a complex maneuver, and a preliminary experimental result are provided.
Keywords :
asymptotic stability; attitude control; autonomous aerial vehicles; geometry; helicopters; nonlinear control systems; robot dynamics; three-term control; uncertain systems; Euclidean group; SE(3); attitude tracking command; complex maneuver; geometric nonlinear PID control systems; global asymptotic stability; integral control terms; mathematical proof; minimal attitude representations; position tracking command; quadrotor UAV dynamics; quaternion ambiguity; uncertainties; Aerodynamics; Angular velocity; Attitude control; Control systems; Propellers; Vectors; Vehicle dynamics;
Conference_Titel :
Control Conference (ECC), 2013 European
Conference_Location :
Zurich
