期刊名称：IAENG International Journal of Computer Science
印刷版ISSN：1819-656X
电子版ISSN：1819-9224
出版年度：2021
卷号：48
期号：4
语种：English
出版社：IAENG - International Association of Engineers
摘要：Attitude tracking control for quadrotor is a challenging topic, simply due to its nonlinearity. In this article, we present an attitude tracking control for quadrotor on Special Orthogonal-3 group. The proposed control system consist of dynamics compensator and Proportional-Derivative (PD) controller. By implementing the PD controller, performance of a linear system can be adjusted as desired. However, quadrotor is a non-linear system, hence it must be linearized along references angle firstly. In addition, the quadrotor is designed to transport payload. This payload generates an additional uncertainty of inertia which is called inertia perturbation. Inertia perturbation affects the dynamics of overall quadrotor system. The numerical simulation and results verify that the reference angle can be tracked by employing a PD controller plus dynamics compensator for the quadrotor despite under inertia perturbation due to transport a payload.
