摘要：In this paper, a robust controller for hoveringstabilization of a quadrotor is proposed. The proposed con-troller is based upon the compensation of the position of centerof gravity CoG by a bounded of control torque. To avoidcomplexities and ambiguities associated with other attituderepresentations such as Euler angles or quaternions, both of theattitude dynamics and the proposed control system are globallyexpressed on the special orthogonal-3 (SO(3)) group. The robustcompensator is introduced to restrain the influence of uncertainparameters of quadrotor such as the center of gravity. Thestability of the designed controller is verified by the Lyapunovstability theorem, and the validity of the proposed controlleris demonstrated by simulations under different simulationscenarios. Simulation results show that the proposed controlleris robust to stabilize hovering condition, given a deviated CoG.Moreover, this controller gives a better performance comparedto the nominal proportional derivative controller.
关键词：Proportional-Derivative; Center of Gravity; Quadrotor; Stabilization; Special Orthogonal-3
