Dynamic surface control to correct for gyroscopic effect of propellers on quadrotor

摘要

A dynamic surface controller is proposed to correct for gyroscopic effect from propellers on the motion of large quadrotor. The new control law accounts for adverse effect caused by the gyroscopic effect of propellers that the increased speed leads to high order of oscillation. The proposed controller rapidly converges when reaching the equilibrium point, dramatically improving the convergence speed compared to the classical PID control law. The stability of the closed-loop system is confirmed by Lyapunov stability theory and the results of numerical simulation.