Impact of Wind Disturbances on Vehicle Station Keeping and Trajectory Following
Impact of Wind Disturbances on Vehicle Station Keeping and Trajectory Following
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DOI：
10.2514/6.2013-4865
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发表时间：
2013-08
期刊：
影响因子：
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通讯作者：
Kenan Cole;A. Wickenheiser
中科院分区：
文献类型：
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作者：
Kenan Cole;A. Wickenheiser
无人机编队控制是一个研究热点，其控制算法基础多种多样。虽然这些算法已经在模拟和一些飞行试验中得到了验证，但它们中很少涉及风扰动对系统的影响。甚至更少，如果有的话，解决风在水上或空间分布的风场。我们使用一个统计风的水模型，可以使用一个扩展功能，以产生一个空间风场的应用程序，随着时间的推移，任何数量的车辆。然后，该风场定义用于确定三种不同的风况（平均风速= 1、5和10 m/s）对四旋翼1）保持位置和2）遵循轨迹的能力的影响。研究了两种控制算法，以比较它们在风场中的性能：1）PID控制器和2）由Mellinger和Kumar定义的特定四旋翼控制器，其计算所需的体力和力矩以遵循指定的轨迹。
Formation control of unmanned aerial vehicles is a popular topic with a diverse base of control algorithms. While these algorithms have been demonstrated in simulation and in some flight tests, very few of them address the impact of wind disturbances on the system. Even fewer if any address wind over water or a spatially distributed wind field. We use a statistical wind over water model that can be used with a spreading function to produce a spatial wind field for application to any number of vehicles over time. This wind field definition is then used to determine the impact three different wind conditions (mean wind speed = 1, 5, and 10 m/s) have on a quadrotor’s ability to 1) station keep and 2) follow a trajectory. Two control algorithms are examined to compare their performance in the wind field: 1) a PID controller and 2) a specific quadrotor controller defined by Mellinger and Kumar that computes the desired body forces and moments to follow a specified trajectory.