Adaptive Altitude Control of a Tethered Multirotor Autogyro under Varying Wind Speeds using Differential Rotor Braking

摘要

A tethered multirotor autogyro can function as an unmanned aerial vehicle for energy-efficient and prolonged deployment, as it uses the available wind energy to sustain flight. This article presents an adaptive altitude control strategy for such a device. At a constant wind speed, the equilibrium altitude can be approximated by a quadratic function of the pitch angle. The proposed adaptive control estimates the coefficients of this quadratic function. The estimates are used for altitude control and to attain the maximum altitude (and minimum horizontal drift) for a given wind speed. A feedback controller based on regenerative differential rotor braking is used as the actuation to modulate the autogyro's pitch angle. Implementation of the controller using a control-oriented, higher-order dynamic model demonstrates the controller's capability to regulate the altitude and maintain stable flights under varying wind speeds. Based on the system's maximum altitude tracking performance, the adaptive control is adjusted to improve performance under substantial changes in wind speeds.