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Geometric control of a quadrotor in wind with flow sensing and thrust constraints: Attitude and position control
| Content Provider | Semantic Scholar |
|---|---|
| Author | Craig, William S. R. Yeo, Derrick W. Paley, Derek A. |
| Copyright Year | 2019 |
| Abstract | Quadrotors show promise for a wide variety of outdoor missions, but struggle to fly reliably in windy conditions. This problem is partially addressed in this work by implementing custom flow probes on a quadrotor for flow-aware feedback control. The aerodynamic forces and moments resulting from wind interactions are modeled and incorporated into the quadrotor dynamics. Wind velocity data from the flow probes is fed back into a nonlinear feedback controller that guarantees stability under windy conditions and in the presence of thrust constraints. Experimental testing with motion capture in a gust-generation facility demonstrates the benefits of flow feedback for flight control in unsteady winds. |
| File Format | PDF HTM / HTML |
| DOI | 10.2514/6.2019-1192 |
| Alternate Webpage(s) | http://cdcl.umd.edu/papers/scitech19a.pdf |
| Alternate Webpage(s) | https://doi.org/10.2514/6.2019-1192 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
