Hybrid Controller for Soft Landing of a Quadcopter

Kumar, Sanjay; Dewan, Lillie

doi:10.1080/03772063.2023.2248952

Cited by 4 publications

(1 citation statement)

References 37 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Furthermore, certain proposals advocate for sliding mode-based control systems, specifically employing the Proportional Integral Derivative sliding surface control with backstepping (hybrid control). This approach aims to enhance quadcopter flight tracking performance during take-off and soft landing in challenging environmental conditions characterized by disruptions and strong winds [9].…”

Section: Of 13mentioning

confidence: 99%

UAV takeoff in Windy Conditions using DQN

Olaz,

Aláez,

De Porcellinis

et al. 2023

Preprint

View full text Add to dashboard Cite

Drone navigation is critical, particularly during the initial and final phases, such as the initial ascension, where pilots may fail due to strong external disturbances that could lead to a crash. In this ongoing work, a drone has been successfully trained to perform an ascent of up to 6 meters with external disturbances simulating wind pushing it up to 24 mph, with the DQN algorithm managing external forces affecting the system. It has been demonstrated that the system can control its height, position, and stability in all three axes (roll, pitch, and yaw) throughout the process. The learning process is carried out in the Gazebo simulator, which emulates interferences, while ROS is used to communicate with the agent.

show abstract

Section: Of 13mentioning

confidence: 99%