This paper investigates the ability of a quadrotor to maneuver in a wind field. A dynamic model of a quadrotor is presented to model its motion. The quadrotor model includes a wind effect model to quantify the effect of wind on the dynamics of a quadrotor. A proportional-integral-derivative (PID) controller is shown as a baseline controller typically used on quadrotors. A LQR controller is then shown as an alternative to a PID controller. These two controllers are compared in a simulation environment using the wind effect model and simulated wind disturbances. Both controllers are found to have similar performance in a wind field, though the LQR controller is found to be easier to tune.


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    Titel :

    Quadrotor control in a wind field


    Beteiligte:
    Tran, Nguyen Khoi (Autor:in) / Bulka, Eitan (Autor:in) / Nahon, Meyer (Autor:in)


    Erscheinungsdatum :

    01.06.2015


    Format / Umfang :

    1825817 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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