Nurman Setiawan, Gilang Nugraha Putu Pratama, Hendra Ari Winarno, Samiadji Herdjunanto, Adha Imam Cahyadi
Attitude tracking control for quadrotor is a challenging topic, simply due to its nonlinearity. In this article, we present an attitude tracking control for quadrotor on Special Orthogonal-3 group. The proposed control system consist of dynamics compensator and Proportional-Derivative (PD) controller. By implementing the PD controller, performance of a linear system can be adjusted as desired. However, quadrotor is a non-linear system, hence it must be linearized along references angle firstly. In addition, the quadrotor is designed to transport payload. This payload generates an additional uncertainty of inertia which is called inertia perturbation. Inertia perturbation affects the dynamics of overall quadrotor system. The numerical simulation and results verify that the reference angle can be tracked by employing a PD controller plus dynamics compensator for the quadrotor despite under inertia perturbation due to transport a payload © 2021. IAENG International Journal of Computer Science.All Rights Reserved
Department of Electrical Engineering Education, Universitas Negeri Yogyakarta, Indonesia; Beehive Drones, Indonesia; Department of Electrical Engineering, Universitas Muhammadiyah Gresik, Indonesia; Department of Electrical and Information Technology, Universitas Gadjah Mada, Indonesia
