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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    Title :

    Quadrotor control in a wind field


    Contributors:


    Publication date :

    2015-06-01


    Size :

    1825817 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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