Position controller for a flapping wing drone using uwb

G. Gonzalez Archundia; G.C.H.E. de Croon; D.A. Olejnik; M. Karasek

Position controller for a flapping wing drone using uwb

G. Gonzalez Archundia, G.C.H.E. de Croon, D.A. Olejnik, M. Karasek

Control & Simulation

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

19 Downloads (Pure)

Abstract

This paper proposes an integral approach for accurate ultra wide band indoor position control of flapping wing micro air vehicles. Three aspects are considered to reach 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 battery-level 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 position in x and y, and 4.9cm for position in z.

Original language	English
Title of host publication	Proceedings of the 12th International Micro Air Vehicle Conference
Editors	Jose Martinez-Carranza
Pages	85-92
Number of pages	8
Publication status	Published - 2021
Event	12th International Micro Air Vehicle Conference - Puebla, Mexico Duration: 17 Nov 2021 → 19 Nov 2021 Conference number: 12

Conference

Conference	12th International Micro Air Vehicle Conference
Abbreviated title	IMAV 2021
Country/Territory	Mexico
City	Puebla
Period	17/11/21 → 19/11/21

Access to Document

10-1Final published version, 1.7 MBLicence: CC BY

Best Conference Paper Award of the 12th International Micro Air Vehicle Conference 2021
Li, S. (Recipient), de Wagter, C. (Recipient) & de Croon, G.C.H.E. (Recipient), 19 Nov 2021
Prize: Prize (including medals and awards)

File

Cite this

@inproceedings{ecb50cf0e6cc4373932035df09604749,

title = "Position controller for a flapping wing drone using uwb",

abstract = "This paper proposes an integral approach for accurate ultra wide band indoor position control of flapping wing micro air vehicles. Three aspects are considered to reach 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 battery-level 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 position in x and y, and 4.9cm for position in z. ",

author = "{Gonzalez Archundia}, G. and {de Croon}, G.C.H.E. and D.A. Olejnik and M. Karasek",

year = "2021",

language = "English",

pages = "85--92",

editor = "Martinez-Carranza, {Jose }",

booktitle = "Proceedings of the 12th International Micro Air Vehicle Conference",

note = "12th International Micro Air Vehicle Conference, IMAV 2021 ; Conference date: 17-11-2021 Through 19-11-2021",

}

Position controller for a flapping wing drone using uwb. / Gonzalez Archundia, G.; de Croon, G.C.H.E.; Olejnik, D.A.; Karasek, M.

Proceedings of the 12th International Micro Air Vehicle Conference . ed. / Jose Martinez-Carranza. 2021. p. 85-92 IMAV2021-10.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Position controller for a flapping wing drone using uwb

AU - Gonzalez Archundia, G.

AU - de Croon, G.C.H.E.

AU - Olejnik, D.A.

AU - Karasek, M.

N1 - Conference code: 12

PY - 2021

Y1 - 2021

N2 - This paper proposes an integral approach for accurate ultra wide band indoor position control of flapping wing micro air vehicles. Three aspects are considered to reach 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 battery-level 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 position in x and y, and 4.9cm for position in z.

AB - This paper proposes an integral approach for accurate ultra wide band indoor position control of flapping wing micro air vehicles. Three aspects are considered to reach 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 battery-level 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 position in x and y, and 4.9cm for position in z.

M3 - Conference contribution

SP - 85

EP - 92

BT - Proceedings of the 12th International Micro Air Vehicle Conference

A2 - Martinez-Carranza, Jose

T2 - 12th International Micro Air Vehicle Conference

Y2 - 17 November 2021 through 19 November 2021

ER -

Position controller for a flapping wing drone using uwb

Abstract

Conference

Access to Document

Fingerprint

Prizes

Best Conference Paper Award of the 12th International Micro Air Vehicle Conference 2021

Cite this