Kouvakas, Nikolaos (National and Kapodistrian University of Athens), KOUMBOULIS, FOTIOS (National and Kapodistrian University of Athens), Giannaris, Georgios (Sterea Ellada Institute of Technology), Vouyioukas, Demosthenes (University of the Aegean)

Wireless Longitudinal Motion Controller Design for Quadrotors

Scheduled for presentation during the Regular Session "Airspace Control" (FrA4), Friday, September 4, 2020, 10:40−11:00, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

In the present paper, the problem of remotely controlling a quadrotor in longitudinal motion and under atmospheric disturbances is studied. The disturbances are considered not to be measurable. The controller - communication system is enriched with a synchronization / signal reconstruction algorithm imposing constant delays. The design goal is to independently control the horizontal and vertical velocity of the quadrotor while simultaneously attenuating the influence of the disturbances to these two velocities. To this end, a linear dynamic time delay controller will be designed. The satisfactory performance of the proposed control scheme is illustrated through computational experiments for the case of a climbing manoeuvre.