PROPORTIONAL DERIVATIVE ACTIVE FORCE CONTROL FOR "X" CONFIGURATION QUADCOPTER

This paper presents a stabilization control method for “x” configuration quadcopter using PDAFC (Proportional Derivative Active Force Control). PD is used to stabilize quadcopter, whereas AFC is used to reject disturbance uncertainty (e.g. wind) by estimating disturbance torque value of quadcopter. Simulation result shows that PDAFC is better than PD and AFC can minimize disturbance uncertainly effect. The sensitivity toward disturbance uncertainly can be set from sensitivity constant to get best performance of disturbance rejection. Constant disturbance simulation result shows that the best sensitivity constant ( ) is 0.15, the quadcopter maximum error is 0.125 radian and can stable in 5 seconds. Fluctuated disturbance simulation result shows that PDAFC with 0.18 sensitivity constant gives lowest RMS error value, there are 0.074 radian for sine disturbance, 0.055 radian for sawtooth disturbance, and 0.092 radian for square pulse disturbance.

[1]  S. Park,et al.  RIC (robust internal-loop compensator) based flight control of a quad-rotor type UAV , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Roland Siegwart,et al.  Design and control of an indoor micro quadrotor , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[3]  A. Tayebi,et al.  Attitude stabilization of a four-rotor aerial robot , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[4]  Shigenori Sano,et al.  Robust Tracking Control of a Quad-Rotor Helicopter Utilizing Sliding Mode Control with a Nonlinear Sliding Surface , 2013 .

[5]  Yuichi Matsumoto,et al.  Modeling of Force Sensing and Validation of Disturbance Observer for Force Control , 2007, IEEE Transactions on Industrial Electronics.

[6]  Robert Mahony,et al.  Modelling and control of a large quadrotor robot , 2010 .

[7]  Roland Siegwart,et al.  PID vs LQ control techniques applied to an indoor micro quadrotor , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[8]  James M. Conrad,et al.  A survey of quadrotor Unmanned Aerial Vehicles , 2012, 2012 Proceedings of IEEE Southeastcon.

[9]  Abdelaziz Benallegue,et al.  Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[10]  Wen-Hua Chen,et al.  Disturbance observer based control for nonlinear systems , 2004 .

[11]  L. Fridman,et al.  Feedback linearization and high order sliding mode observer for a quadrotor UAV , 2006, International Workshop on Variable Structure Systems, 2006. VSS'06..

[12]  Jun Li,et al.  Dynamic analysis and PID control for a quadrotor , 2011, 2011 IEEE International Conference on Mechatronics and Automation.

[13]  Endra Pitowarno.  An implementation of a knowledge-based system method to an active force control robotic scheme , 2002 .

[14]  E. Altug,et al.  Modeling and PD Control of a Quadrotor VTOL Vehicle , 2007, 2007 IEEE Intelligent Vehicles Symposium.