This study investigates the ability of a quadcopter equipped with two Control Moment Gyroscopes (CMGs) to maneuver in real-life wind conditions. The objective is to develop a mathematical model of the quadcopter and assess the performance of the CMG controller compared to a quadcopter without CMGs in the presence of wind disturbances. The study incorporates a wind disturbance model based on realistic wind patterns and a motor dynamics model to simulate the rotor response. To control the quadcopter's position and attitude, a backstepping sliding mode controller is utilized. The results demonstrate that the quadcopter equipped with CMGs outperforms the CMG-less quadcopter in achieving the desired attitude and position under real-life wind conditions.


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    Title :

    Control Moment Gyroscopes-equipped Quadcopter Control in Wind Conditions


    Contributors:


    Publication date :

    2023-08-28


    Size :

    1038268 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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