Wind Disturbance Rejection for Unmanned Aerial Vehicle Based on Acceleration Feedback Method

Abstract

Wind disturbance has always been a critical issue for safety flight of unmanned aerial vehicle (UAV) and increases the challenges for UAV system control. To this end, this paper presents an acceleration feedback (AF) method for UAV to enhance its ability of wind disturbance rejection. Compared with conventional AF control where only angular AF is used for precise attitude control, we further consider linear AF for precise position control. The proposed method was designed and implemented on a hex-rotor where a model free controller, cascaded PID, is used. In order to make it easy and fast to implement AF method on such model free system, a novel, effective and simple method for parameters identification of multi-rotor is proposed. The comparison results of trajectory tracking between PID and AF enhanced PID controller under continuous and gusty wind verify that the proposed method is not only robust but effective for both types of wind disturbances.