Agile flight control under multiple disturbances for quadrotor: algorithms and evaluation

• Main Authors: Jia, Jindou, Guo, Kexin, Yu, Xiang, Guo, Lei, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Aerodynamics; Drag
• Online Access: https://hdl.handle.net/10356/163762
• Institution: Nanyang Technological University

In this article, a scheme of anti-disturbance agile flight control is developed for a maneuverable quadrotor unmanned aerial vehicle, subject to the aerodynamic drag, dynamic shift of center of gravity (CoG), and motor dynamics. A cascaded control framework is adopted. In the translational loop, an...