Hover Flight Control Design for UAS Using Performance-based Disturbance Rejection Requirements
Marcos G. Berrios, Tom Berger, Mark B. Tischler, Ondrej Juhasz, Frank C. Sanders
May 8, 2017
Hover Flight Control Design for UAS Using Performance-based Disturbance Rejection Requirements
- Presented at Forum 73 - Best Paper for this session
- 23 pages
- SKU # : 73-2017-0283
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Hover Flight Control Design for UAS Using Performance-based Disturbance Rejection Requirements
Authors / Details: Marcos G. Berrios, Tom Berger, Mark B. Tischler, Ondrej Juhasz, Frank C. SandersAbstract
A key class of UAS are VTOL vehicles, which afford the ability to hover and maneuver in tight spaces; often in windy and turbulent conditions. This paper presents the development and flight testing of optimized control laws for the 3DR IRIS+ quadrotor designed to aggressively hold its position in a hover while subjected to wind gusts and turbulence. Performance-based disturbance rejection requirements, such as attitude/position tracking error in turbulence and maximum position displacement for a 1-cosine gust, are directly incorporated into the flight control design and optimization process. A Control Equivalent Turbulence Input (CETI) was then used to simulate turbulence in flight and the optimized control laws allowed for the quadrotor to hold its position to within 3.5 inches, a factor of 13.5 improvement over the stock position hold controller.
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Hover Flight Control Design for UAS Using Performance-based Disturbance Rejection Requirements
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