Online identification of wind model for improving quadcopter trajectory monitoring

Abstract

Abstract. In this paper, we consider a problem of quadcopter control in severe weather conditions. One type of such weather conditions is a strong variable wind. In this paper, we ponder deterministic and stochastic models of winds at low altitudes with the quadcopter performing aggressive maneuvers. We choose an adaptive algorithm as our control algorithm. This algorithm might seem suitable one to solve the given problem, as it is able to adjust quickly to changing conditions. However, as shown in the paper, this algorithm is not applicable to rapidly changing winds and requires additional filters to smooth the impulse streams, so as not to lose the stability of the object.

Development of Adaptive Control for an Asymmetric Quadcopter

“…The stochastic component is modelled using Dryden differential equations. The choice and detailed description of the wind model is presented in [21,23].…”

“…Movement of the quadcopter is strongly influenced by the wind, which is always present in the atmosphere. Usually, a quadcopter flies at altitudes up to 100 m. According to [21,23], the wind speed V wind at such heights can be represented as(5): mechanical characteristics of the engine and the shape and size of the blades. They directly affect the accuracy of the quadcopter control.…”

“…This method is presented in detail in [18,19,23]. Let us describe only the implementation features for the chosen model of a quadcopter.…”

“…The full state feedback method is described in detail and is presented in [18,19,23]. Its hould be noted that this method is applied to the linear model, which can be obtained from (2) by full linearisation.…”