Automatic Hovering Control for Multicopters Based on Just-in-time Modeling

Abstract

This study develops a new hovering control method based on just-in-time modeling for mul- ticopters. Especially, the main aim is to find gains of a feedback control law such that overshoot and undershoot does not occur when the multicopter moves. A database whose inputs are desired height dif- ferences and stabilization time and outputs are gains is constructed, and then some numerical simulations are performed by using the database. It turns out that the multicopter can hover at the desired height without overshoot or undershoot, and hence the proposed control method is effective.