Active Wind Rejection Control for a Quadrotor UAV Against Unknown Winds
Why this work is in the frame
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Bibliographic record
Abstract
This article presents an active wind rejection control scheme for a quadrotor unmanned aerial vehicle (UAV) against unknown winds. Based on the estimated wind effects acting on the aircraft, the proposed control scheme can maintain the performance of the quadrotor UAV in the presence of model uncertainties, unknown winds, and system noises. Firstly, a two-stage particle filter is designed to estimate the UAV states and wind information from the motion of the vehicle without additional wind sensors. Then, an active wind rejection control scheme is proposed to actively attenuate the wind disturbances based on the estimated wind information. In the controller design, the nonsingular terminal sliding-mode control (NTSMC) is chosen as the baseline controller. To tackle the issues of model uncertainties and wind estimation errors, the adaptive drag coefficients are adopted to generate the compensation control signals. Finally, simulation results are presented to demonstrate the effectiveness of the proposed active wind rejection control scheme for a quadrotor UAV against unknown winds.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it