An Adaptable Nonlinear Control for Quadcopters in Heavy Winds

Author(s):

Carl Lederman and Brent Kraczek

Abstract:

The safe and effective use of quadcopters within urban areas with environmental factors is of tremendous importance to the US military and civilian sectors. This technical report explores a highly adaptable simulation setup, with a nonlinear controller containing learning elements. Other model factors—such as the drone geometry, weighting, and wind forces—are easily modifiable within the presented framework. The simulation, performed with Unreal Engine, can incorporate real-world city data, realistic winds, and existing open-source software.