Position controller for a flapping wing drone using uwb

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

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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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 languageEnglish
Title of host publicationProceedings of the 12th International Micro Air Vehicle Conference
EditorsJose Martinez-Carranza
Pages85-92
Number of pages8
Publication statusPublished - 2021
Event12th International Micro Air Vehicle Conference - Puebla, Mexico
Duration: 17 Nov 202119 Nov 2021
Conference number: 12

Conference

Conference12th International Micro Air Vehicle Conference
Abbreviated titleIMAV 2021
Country/TerritoryMexico
CityPuebla
Period17/11/2119/11/21

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