This paper presents a modular feedforward wind rejection method for agile fixed-wing UAVs, designed to work in tandem with a thrust pointing position controller. The feedforward controller requires a trustworthy wind estimate, and is based on three components, a feedforward rotation on attitude and two feedforward components on thrust. The controller uses attitude trim conditions to reject wind disturbances near the cross-wind condition, while also adopting an airspeed-based feedforward on thrust to reduce disturbances when flying in-line with the wind vector. The feedforward controller was validated in simulation and outdoor flight tests. Simulated flights consisted of straight line and circular tracking in a constant wind-field, as well as frequency tests to examine the ability of the feedforward controller to reject wind fluctuations. Experimental flight tests tracking a circular path in a windy environment were conduced. The results of simulations and experimental flights show that the feedforward controller provides good wind rejection performance when compared to the feedback position controller operating on its own.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Feedforward Control for Wind Rejection in Fixed-Wing UAVs


    Contributors:


    Publication date :

    2022-06-21


    Size :

    1881249 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Robust Autonomous Landing of Fixed-Wing UAVs in Wind

    Fridén, Tobias | BASE | 2020

    Free access

    FIXED-WING UAVS CONTROL WITH MODEL UNCERTAINTIES

    Kartal, M. / Ignatyev, D. / Zolotas, A. | British Library Conference Proceedings | 2022


    Path-Following Control of Small Fixed-Wing UAVs under Wind Disturbance

    Pengyun Chen / Guobing Zhang / Jiacheng Li et al. | DOAJ | 2023

    Free access

    Robust Wind Estimation for Fixed Wing UAVs in Surveying Applications

    Verling, Sebastian L. / Siegwart, Roland | AIAA | 2019


    Robust Wind-Aware Path Optimization Onboard Small Fixed-wing UAVs

    Bucher, Thomas / Stastny, Thomas / Verling, Sebastian et al. | AIAA | 2023