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Position Controller for a Flapping-Wing Drone Using UWB
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DOI：10.1142/S2301385022410059.png)
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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 similar to 1.5, reaching a mean absolute error of 10cm for the position in x and y, and 4.9cm for the position in z.
Keyword:
Flapping-wing drone
ultra-wideband
position controller
drag compensation
thrust control
期刊
IF:
2.4
论文数:
302
被引数:
705
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