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.
Quadrotor control in a wind field
2015-06-01
1825817 byte
Conference paper
Electronic Resource
English
Sensing Wind from Quadrotor Motion
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|Wind Disturbance Estimation and Rejection for Quadrotor Position Control
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|IEEE | 2015
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