Abstract
This paper proposes an integral approach for accurate ultra-wideband indoor position control of flapping-wing micro-air vehicles. Three aspects are considered to achieve a reliable and accurate position controller. The first aspect is a velocity/attitude flapping-wing model for drag compensation. The model is compared with real flight data and shown to be applicable for more than one type of flapping-wing drone. The second improvement regards a voltage-dependent thrust control. Lastly, a characterisation of ground effects in flapping-wing flight is obtained from hovering experiments. The proposed controller improves position control by a factor ∼1.5, reaching a mean absolute error of 10cm for the position in x and y, and 4.9cm for the position in z.
Original language | English |
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Pages (from-to) | 383-394 |
Number of pages | 12 |
Journal | Unmanned Systems |
Volume | 10 |
Issue number | 4 |
DOIs | |
Publication status | Published - 2022 |
Keywords
- drag compensation
- Flapping-wing drone
- position controller
- thrust control
- ultra-wideband