Autonomous landing of quadrotor based on ground effect modelling

Due to the ground effect, it is difficult for quadrotor to take off or land precisely. This paper presents a new ground effect model of quadrotor based on the Cheeseman's model for helicopter, and a ground effect compensator is introduced into the control system. Meanwhile by combining the proportional-integral-derivative (PID) control method and the robust compensation technique, a robust altitude controller is designed to keep the height of quadrotor and land it at an accurate time. Experimental results demonstrate the effectiveness of our ground effect model and the control method.