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

fYear

2013

fDate

17-19 July 2013

Firstpage

3845

Lastpage

3850

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2013 European

Conference_Location

Zurich

Type

conf

Filename

6669644