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Robust Control for Quadrotors
In this project, we aim at designing a robust quadrotor controller which can reject external disturbances and enhance overall quadrotor control accuracy.
While a quadrotor is in flight, it may experience disturbances caused by wind gust, rotor drag, interaction with environment, and so on. Since those disturbances can affect the flight quality and accuracy significantly, they should be well estimated and compensated. In this project, we aim at designing a robust quadrotor controller which can reject external disturbances and enhance overall quadrotor control accuracy. Specifically, the first goal of this project will be estimating disturbances by exploiting various state feedbacks. After estimating the disturbances, in the quadrotor controller, the estimated disturbance values will be reflected and compensated. To ensure the stability of the robust quadrotor controller, first, a relevant stability analysis will be conducted. Then, the flight performance under disturbances will be validated on an agile quadrotor platform.
While a quadrotor is in flight, it may experience disturbances caused by wind gust, rotor drag, interaction with environment, and so on. Since those disturbances can affect the flight quality and accuracy significantly, they should be well estimated and compensated. In this project, we aim at designing a robust quadrotor controller which can reject external disturbances and enhance overall quadrotor control accuracy. Specifically, the first goal of this project will be estimating disturbances by exploiting various state feedbacks. After estimating the disturbances, in the quadrotor controller, the estimated disturbance values will be reflected and compensated. To ensure the stability of the robust quadrotor controller, first, a relevant stability analysis will be conducted. Then, the flight performance under disturbances will be validated on an agile quadrotor platform.
The goal of this work is designing and implementing a robust quadrotor controller to deal with external forces / torques.
The goal of this work is designing and implementing a robust quadrotor controller to deal with external forces / torques.
Suseong Kim (suseong@ifi.uzh.ch), Davide Falanga (falanga@ifi.uzh.ch)
Suseong Kim (suseong@ifi.uzh.ch), Davide Falanga (falanga@ifi.uzh.ch)