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Geometric PID Control for Almost-Global Stabilization of a Quadrotor With Parameter Error and Constant Disturbances

[+] Author Affiliations
D. H. S. Maithripala

University of Peradeniya, Peradeniya, Sri Lanka

Jordan M. Berg

Texas Tech University, Lubbock, TX

Paper No. DSCC2014-5995, pp. V003T48A002; 6 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4620-9
  • Copyright © 2014 by ASME


Intrinsic controllers are invariant under the coordinates used for their representation. In the case of rigid-body motion in two and three dimensions, the intrinsic approach eliminates problems with singularity or over-parametrization that may occur in specific choices such as Euler angles or quaternions. Intrinsic PD controllers that combine almost-global stabilization with a familiar and intuitive PD design framework have been known for several years. In this paper we show how intrinsic integral action may be added to intrinsic PD control. We apply the result to stabilize the attitude of a quadrotor UAV model, and demonstrate in simulation that performance is significantly improved in the presence of parameter uncertainty and constant disturbance forces. We also consider the effect of bounded, time-varying, disturbances.

Copyright © 2014 by ASME



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