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Position Controller for a Flapping-Wing Drone Using UWB

    https://doi.org/10.1142/S2301385022410059Cited by:1 (Source: Crossref)
    This article is part of the issue:

    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 1.5, reaching a mean absolute error of 10cm for the position in x and y, and 4.9cm for the position in z.

    This paper was recommended for publication in its revised form by editorial board member, Jose Martinez-Carranza.

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