Proportional-Derivative Control for Quadrotor Stabilization under Inertia Perturbation

In real condition, the presence of disturbances caused by inertial perturbation is inevitable in quadrotor. Inertia perturbation is assumed to come from payload whose mass and laying position have not been known previously, but limited to certain value. Furthermore, analytical analysis shows that inertia perturbation is affected by the angular velocity of a quadrotor. This paper presents the robustness of Proportional Derivative (PD) control of a quadrotor against disturbances from inertia perturbation. The PD control is designed by generating a torque in exponential coordinate which pushes the angle and the angular velocity back to their equilibrium points and keep them there. A verification of the PD control is carried out through numerical simulation. The result shows that the proposed PD control succeed in stabilizing the quadrotor in both nominal condition and condition in which inertia perturbation takes place. The latter shows that robust PD control against inertia perturbation is achieved.