Autonomous Control Design for Urban Windfield Flight


A. Custom quadrotor TARA

A. Custom quadrotor TARA

B. LES simulated building wake and test point locations

B. LES simulated building wake and test point locations

C. Comparison of 5 control strategies to hold position

C. Comparison of 5 control strategies to hold position

D. Experimental test flight

D. Experimental test flight

E. Bounding box of position hold

E. Bounding box of position hold

 

 

 

 

 

 

 

 

A custom quadrotor platform named TARA (Fig. A) has been designed, built, and used to test various control strategies in terms of their ability to steady the vehicle under the turbulent conditions created within the wakes of buildings.  Using Large Eddy Simulations to determine the unsteady wind conditions behind a building, four control strategies are evaluated in terms of their ability to hold TARA in various positions within the wake as shown in Fig. B.  Proportional Integral Derivative (PID), Fuzzy Logic, Integral Backstepping (IB) and Adaptive Integral Backstepping (AIB) have been tested, along with a hybrid method that combines both PID and AIB.  Figure C shows each controllers’ ability to hold TARA in position at the various points within the building wake.  Three of these controllers were then test flown using TARA (Fig. D) where the bounding box (as defined by the maximum observed error away from the desired location) is shown for each controllers’ ability to hold position.