Wind gust estimation for precise quasi-hovering control of quadrotor aircraft

• Published in: Control engineering practice Vol. 116; p. 104930
• Main Authors: Azid, Sheikh Izzal, Kumar, Krishneel, Cirrincione, Maurizio, Fagiolini, Adriano
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.11.2021
• Subjects: Disturbance observers; Quadrotors; Robotics; Robust control; ROS/Gazebo; Unknown Input-state observers; Robust control; ROS/Gazebo; Disturbance observers; Unknown Input-state observers; Robotics; Quadrotors

This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be ach...