ICRA 2015poster124 citations
High performance full attitude control of a quadrotor on SO(3)
Yun Yu, Shuo Yang, Mingxi Wang, Cheng Li, Zexiang Li
Abstract
This paper presents a novel quadrotor UAV attitude control algorithm to realize complex acrobatic UAV maneuvers. A nonlinear dynamic model based on the exponential coordinates parametrization of rotation is proposed. By analysing the model using Lie Group and Lie Algebra theory, cascaded linear PID controllers are designed. To further improve the controller performance, PID controllers are augmented with smith predictor and rotational trajectory planner. The experiments conducted on a real quadrotor show that our control algorithm surpasses most known quadrotor controllers.
BibTeX
@inproceedings{icra2015_highperformancef,
title = {High performance full attitude control of a quadrotor on SO(3)},
author = {Yun Yu and Shuo Yang and Mingxi Wang and Cheng Li and Zexiang Li},
booktitle = {ICRA 2015},
year = {2015}
}