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arXiv · 1304.6765

Geometric Nonlinear PID Control of a Quadrotor UAV on SE(3)

Farhad Goodarzi·Daewon Lee·Taeyoung Lee
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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.

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Farhad Goodarzi, Daewon Lee, Taeyoung Lee. 2013-04-24. Geometric Nonlinear PID Control of a Quadrotor UAV on SE(3). https://arxiv.org/abs/1304.6765

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