@inproceedings{154de65f640d4cafa94b8fea2099959e,
title = "Aggressive Quadrotor Flight Control Through Dynamic Gates",
abstract = "In this paper, We propose a method to solve one of the main challenges of quadrotor flight in dynamic environments, that is, flying through dynamic gates. We represent a modified PID controller based on feedback and virtual force for quadrotor to solve this challenge. Firstly, a six degree of freedom kinematics model of quadrotor and the swing gate model are established. Secondly, the modified PID controller is designed. The controller uses the state prediction of the dynamic box to calculate the feedforward, and designs a virtual force to solve the problem of tracking lag. Finally, we use Matlab Simulink to complete the simulation of tracking and passing through the dynamic motion gate for quadrotor and verify the effectiveness of this control method. The centimeter level simulation error results meet the needs of the actual cross-gate task.",
keywords = "Flight through dynamic gate, PID, Quadrotor, Virtual force",
author = "Jiang Zhao and Han Liu and Yingxun Wang and Zhihao Cai",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",
year = "2023",
doi = "10.1007/978-981-19-6613-2\_92",
language = "英语",
isbn = "9789811966125",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "918--926",
editor = "Liang Yan and Haibin Duan and Yimin Deng and Liang Yan",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control",
address = "德国",
}