Due to the ground effect, it is difficult for quadrotor to take off or land precisely. This paper presents a new ground effect model of quadrotor based on the Cheeseman's model for helicopter, and a ground effect compensator is introduced into the control system. Meanwhile by combining the proportional-integral-derivative (PID) control method and the robust compensation technique, a robust altitude controller is designed to keep the height of quadrotor and land it at an accurate time. Experimental results demonstrate the effectiveness of our ground effect model and the control method.
Autonomous landing of quadrotor based on ground effect modelling
2015 34th Chinese Control Conference (CCC) ; 5647-5652
2015-07-01
365477 byte
Conference paper
Electronic Resource
English
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