Control Moment Gyroscopes-equipped Quadcopter Control in Wind Conditions

This study investigates the ability of a quadcopter equipped with two Control Moment Gyroscopes (CMGs) to maneuver in real-life wind conditions. The objective is to develop a mathematical model of the quadcopter and assess the performance of the CMG controller compared to a quadcopter without CMGs in the presence of wind disturbances. The study incorporates a wind disturbance model based on realistic wind patterns and a motor dynamics model to simulate the rotor response. To control the quadcopter's position and attitude, a backstepping sliding mode controller is utilized. The results demonstrate that the quadcopter equipped with CMGs outperforms the CMG-less quadcopter in achieving the desired attitude and position under real-life wind conditions.