Compensating wind disturbance on gesture commanded quadrotors flight

Abstract

This paper presents the design and application of proportional - integral control to compensate the effect of wind disturbance on a quadrotors being commanded through gesture based interface. The gesture commands were applied to increase the scope of interaction between human and quadrotors. In addition, the quality of quadrotors flights on x-y plane were increased by applying wind disturbance rejection controls. The control actions was applied to the input voltage of the propellers' motor, and the controlled variables are the pitch and roll angle that contributed to the deviated relative to the main direction. The open space test verified the reduced deviation across the main direction.