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Wind gust estimation for precise quasi - hovering control of quadrotor aircraft

Azid, Sheikh I. and Kumar, Krishneel and Cirrincione, Maurizio and Fagiolini, Adriano (2021) Wind gust estimation for precise quasi - hovering control of quadrotor aircraft. Control Engineering Practice, 116 . NA. ISSN 0967-0661

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This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasistatic vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind itself. A simple feedback control law can be used to compensate for the offset position error induced by the disturbance. The proposed filter is independent of the recovery control scheme used to nullify the tracking error, as long as the corresponding applied rotor speeds are available. The solution is first checked in simulation environment by using the Robot Operating System middleware and the Gazebo simulator and then experimentally validated with a quadcopter system flying with real wind sources.

Item Type: Journal Article
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > Robotics and Automation
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions: School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User: Sheikh Azid
Date Deposited: 13 Sep 2021 01:10
Last Modified: 13 Sep 2021 01:10

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