2022/05/20 by Jindou Jia, Kexin Guo, Xiang Yu +2 · 1 citation
Engineering · Mathematics · #Adaptive Control of Nonlinear Systems #Power System Optimization and Stability #Aerospace and Aviation Technology #Control theory (sociology) #Drag #Feed forward #Computer science #Trajectory #Tracking (education) #Aerodynamics #Zero-lift drag coefficient #Observer (physics) #Drag coefficient #Scheme (mathematics) #Aerodynamic drag #Control engineering #Engineering #Control (management) #Lift-induced drag #Artificial intelligence #Mathematics #Aerospace engineering #Physics
paper · doi:10.1109/lra.2022.3176449
openalex publication_date 2022/05/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/29
The balanceness between the tracking performance and the aerodynamic drag treatment is of paramount importance especially in the presence of the quadrotor aggressive maneuvers. Different from standard approaches that achieve precise tracking by feedforward compensating the estimated drag, this work presents a scheme to appropriately utilize drag. By means of the proposed drag-utilization scheme, the disturbance absorption can be achieved. In addition to eliminate the adverse effect, the control gains are subtly enlarged with less noise. Moreover, an adaptive law for estimating the drag coefficients onboard is provided. Subsequently, the wind disturbance is explicitly considered at the control design stage. A wind speed observer (WSO) is designed to improve the tracking performance, based on current velocity and attitude. Compared with the traditional disturbance observer (DO), the proposed WSO can not only fully utilize the disturbance characteristic but also contribute to reduce the control conservativeness. In experiments, two types of quadrotors with different thrust-to-weight ratios (TWRs) are employed to evaluate the applicability of the presented scheme. Comparative results show that the proposed scheme outperforms several popular methods.