State Damping Control: A Novel Simple Method of Rotor UAV With High Performance

Abstract

Sliding Mode Control and Adaptive Control are widely studied in the area of Rotor UAV in recent years. Although the performance of Rotor UAV with these controllers show high command tracking ability and good robustness, they are limited by model accuracy so that they cannot take place PID. In this paper, a novel method named State damping control is proposed to be a candidate for the traditional PID method. Our proposed State Damping Control is inspired by the format of air resistance. The method is based on the general idea that resistance will make a system easy to stabilize. State damping control is independent of model accuracy and just uses three parameters to control attitude, so it is easy to realize. Krasovskii Theorem is used to give the evidence that State damping control is asymptotic stable in our considered state space. Finally, simulations are implemented in C++ on VS2017, it demonstrates that State damping control is easy to be tuned and robust to wind attack and inertial parameters. Compared with PID, our proposed method is robust to wind disturbances obviously.

Keywords

• State damping control
• robust control
• nonlinear systems
• computational methods