Autonomous landing of quadrotor based on ground effect modelling

Due to the ground effect, it is difficult for quadrotor to take off or land precisely. This paper presents a new ground effect model of quadrotor based on the Cheeseman's model for helicopter, and a ground effect compensator is introduced into the control system. Meanwhile by combining the prop...

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Bibliographic Details
Published in2015 34th Chinese Control Conference (CCC) pp. 5647 - 5652
Main Authors Danjun, Li, Yan, Zhou, Zongying, Shi, Geng, Lu
Format Conference Proceeding Journal Article
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2015
Subjects
Altitude
Atmospheric modeling
Conferences
Control systems
Controllers
Ground Effect
Helicopters
Land
Landing
Propellers
Proportional integral derivative
Quadrotor
Robust Control
Robustness
Rotorcraft
Rotors
Zirconium
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Summary:Due to the ground effect, it is difficult for quadrotor to take off or land precisely. This paper presents a new ground effect model of quadrotor based on the Cheeseman's model for helicopter, and a ground effect compensator is introduced into the control system. Meanwhile by combining the proportional-integral-derivative (PID) control method and the robust compensation technique, a robust altitude controller is designed to keep the height of quadrotor and land it at an accurate time. Experimental results demonstrate the effectiveness of our ground effect model and the control method.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
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SourceType-Conference Papers & Proceedings-2
ISSN:1934-1768
DOI:10.1109/ChiCC.2015.7260521