Author:
Pi ChenHuan,Lin JinKwan,Cheng Stone
Abstract
A quadcopter is equipped with four additional jet thrusters on its horizontal plane and vertical to each other in order to improve the maneuverability and positioning accuracy of quadcopter. A dynamic model of the quadcopter with jet thrusters is derived and two controllers are implemented in simulation, one is a dual loop state feedback controller for pose control and another is an auxiliary jet thruster controller for accurate positioning. Step response simulations showed that the jet thruster can control the quadcopter with less overshoot compared to the conventional one. Over 10s loiter simulation with disturbance, the quadcopter with jet thruster decrease 85% of RMS error of horizontal disturbance compared to a conventional quadcopter with only a dual loop state feedback controller. The jet thruster controller shows the possibility for further accurate in the field of quadcopter positioning.
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